This is a good idea in general, and very similar to the Phoenix Congress proposal: UBI and a public option. Our legislation includes two other changes to the ACA: removing the penalties on large employers not offering health insurance, and repealing the prohibition on marketplace subsidies for those whose employers offer insurance.
On restoring the individual mandate, what do you mean by "accept liability for not being covered."? Would that include refusing medical treatment to those unable to pay? Your analogy with car insurance is thought provoking but is one that doesn't really scale with the high costs of healthcare. Medical bankruptcy strikes a half million Americans annually. Personal health isn't replaceable like a car.
I look forward to your forthcoming article about funding UBI without a VAT.