If you have a joint checking account with your spouse (or anyone else for that matter), get your name off of it and get a separate account for your SSDI payments (since SSA pretty much requires direct deposit these days).
I have not looked up MA exemptions, but your vehicle, especially if it is older or has a lien on it, may be safe. Old cars do not fetch much at auction, especially after considering the costs associated with executing against and seizing them. If the car has a lien on it, the lienholder gets their money first and then anything above and beyond that amount may go to the judgment creditor, which may not be enough to even offset the costs of seizing the vehicle. Moreover, most people owe more on their cars than they are worth, so most judgment creditors also won't go after a car with a lien on it, unless it is an unusually valuable antique (or something similar) and there is reason to believe that there is some real "equity" in the vehicle.
If you got a large lump sum from SSA because of the length of time it took for your SSDI claim to be approved (and this one often occurs), the funds that are above that limit (generally two to three months of your monthly SSDI payment) could be at risk from a bank levy stemming from a judgment. The exemption for SSA and pension income is not "unlimited".
While it does not occur very often, you could be called in for a debtor's examination by a judgement creditor. At this proceeding you would have to testify under oath about your income and assets. There could be certain legal sanctions against you if you fail to honor the subpeona that you would receive for this proceeding, if it happens. It probably won't be an experience that you will remember with any fondness, if it actually happens. Whether the judgment creditor will take this step is not something that I can determinbe. The more that you owe, the greater the possibility that it might occur. To a judgment creditor, the costs of conducting this proceeding would be weighed against the likelihood of any meaningful recovery. (It's very much a business decision for an institutional creditor, like an insurance company).