Theft and Larceny: Rental Car Theft

I would like some advise.
In 2005, California - I rented a car. I Declined insurance.
I totaled that car. I went to my own insurance and it turned out it was lapsed.
I called the rental car company told them the car was totaled. sorry.

then i blocked the whole thing out.

the rental company complained to the DA. he filed against me - intent to deprive/theft - of the vehicle. the DA filed it as a misdemeanor (not felony)

last saturday i was stopped by the police and arrested (without having been read my rights). processed and released without bail but with a court date in the appropriate county.

i had already been planning to be out of the country on the court date.

what are my options?

am i able to have a lawyer represent me?
is it worth the expense?
if i leave without taking care of it can I go in to the court at a later date and take up the issue?
will i automatically be issued a failure to appear and will a bench warrant be issued for me?
will i be able to return to the USA without being arrested at customs?

I certainly f-ed up and I want to resolve this and help would be appreciated.