Amica. They consistently get great ratings. And it’s not limited membership like USAA. They are owned by the policy holders, like a credit union. Not publicly traded so the shareholder pressure is absent.
Second Amica. They've been great for me. I've never filed an auto claim with them, but I did have a pretty serious homeowner's insurance claim (leaky pipe from another condo in my building which illegally didn't have insurance). They didn't question any of it, didn't drop me, and didn't raise my rate.