In short I have a question: Is it even possible that I could function (walk etc) without a properly functioning psoas?

The long story: For the past two years I have been struggling to find the route cause of muscular imbalances on the right side of my body. I have tight hip flexors, hamstrings and lower back muscles and weak glutes and psoas muscles. I find it hard to breathe because of the tight back muscles.
It's been going on for so long because progress I make whilst static (hip flexor stretches, hamstring stretches) tends to be undone once I start walking.

The reason I am worried about my psoas is this: When I raise my left leg as if to walk, I feel (from the outside) a contraction in my lower abdominals. When I raise my right leg I do not feel this and afterward I feel the muscles around my waist/pelvis (hip flexors?) and upper thigh and gracilis muscle are very tight. So there is a definite difference in the way the two sides of my body function when being raised. The most obvious thing I can think of to explain the above is it's almost as if my psoas isn't working and so my thigh, illiacus and gracilis are overcompensating for it.

I had a car accident many years ago in which my pelvic/ waist area was squashed between two cars as one reversed into me, pinning me against another. I had no scans done and was shortly released from hospital. I am wondering whether it is possible that my psoas could have become damaged/ruptured then and my body forced to compensate.
Although on the other hand I think I'm being over the top and that perhaps I would surely know about it if it were that serious i.e. intense pain in certain situations, inability to walk properly etc.
Should I try and get this investigated further through scans etc or is it out of the question?
Thanks in advance for any enlightening opinions.

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