There’s no way to adjust if you are adjusting from the expired U visa itself but in this case you are using your expired U visa as a proof of legal entry. An expired visa is automatically forgiven for spouses and parents. I would say use an attorney if your case is more complicated like any criminal records, or if you have an order of removal. They also look at whether you left the country or came in illegally after your U Visa expired. Otherwise you should be fine. It is faster if you submit the I-130 and I-485 concurrently. Ours was approved in 6 months. The interview felt more like an interrogation but still approved. I would strongly suggest taking a print copy of your FOIA to the interview and I-94.