It sounds like your Nissan Armada was stolen but was recovered. It is doubtful that you can make any type of claim to your insurance company since the policy had expired. Many insurance companies send out notices for payment and let you know if your policy is going to expire but ultimately it is your responsibility to maintain proper insurance coverage.

You can check to see if the insurance company was required by your state's laws to let either your or the lien holder know about the expiring insurance policy by contacting your state's insurance regulatory body. If the police know who stole your vehicle it is possible that you might be able to go after the responsible party legally, you can get legal advice from an expert on this.