Can I fire Allsup and owe them nothing?

I received LTD from Prudential and agreed to use Allsup to apply for SSD. And, like everyone else, my LTD was stopped once I hit the 2 year “ any occupation “ period. I missed the appeal time frame by 1 day, so I gave up. My question is about Allsup…I was awarded SSD back to my 50th birthday, Allsup received 25% from back pay. I can’t remember exact amount, but it was less than 6,000…around 3,000 I think. Anyway…SSD is not paying me correctly because of a lump sum Work Comp settlement. Without going through it all, I’ll just say that I am confident SSD will owe me more back pay and twice my monthly pay when this is worked out. The problem, Allsup claims to be working on this issue, but it’s been 8 months. When I call them I am ALWAYS told that Social Security won’t call them back. What ?!?! Allsup has told me twice that it’s been put in the notes to update me monthly, yet they never call. Can I fire Allsup? Can I fire them and owe them NOTHING since they seem to be doing NOTHING to resolve this issue? I spoke with my local SS office a few months back, I was told what to bring them paperwork wise to resolve this. The problem is I don’t drive anymore and am unable to sit in their office for long periods of time, so I decided to wait and just continue to stay on Allsup’s back… here we are 6 months later… So, again, if I fire Allsup will I have to pay them more back pay percentage even if I get this fixed on my own.