Just try to find a parking company which pays you a good CPC and make the money while the traffic lasts. I'm sure, if the freight/insurance company dropped it by mistake, they will themselves be frantically trying to contact you, rather than you.
So try some better paying parking service. Every day is valuable because the traffic may not last. As for developing the website, make sure why the previous company let the domain drop. Did they go bankrupt, closed down, what kind of a reputation they had, etc. No point developing a tarnished domain name which had any suspicious activity associated with it.
Premium listing might not be a good idea. MiCarga doesn't seem to hold any potential as a name alone, unless the insurance company was very well known and reputable. Honestly, if this domain was listed right now in premium sells, I wouldn't bother about it.
In short, do your research and keep it parked till you get a better idea. Try to break even with your Reg fees as a first goal.