MIAMI SPRINGS, FLA. (WSVN) - A woman is safe and on solid ground after her SUV ended up dangling from its rear tires at a Miami Springs parking garage.

Miami Springs Police and Miami-Dade Fire Rescue units were dispatched to the garage along the 700 block of South Royal Poinciana Boulevard around 4:30 p.m., Thursday.

Miami-Dade Fire Rescue Battalion Chief Danny Cardeso said, “The vehicle was wedged by just a few inches of metal on the hatchback up top. That’s the only thing that really was keeping it from falling.”

The woman, later identified as Nailan Estrada-Gimenez, was the only person inside of the white Lexus SUV.

Witness Trina Askew said, “We heard the office staff [go], ‘Ah! Ah! Ah!’ We thought it was, like, they were laughing, and then they say, ‘Call 911! 911! She went over the rail! She went over the rail!’ So, we ran and looked, and the car was, like, the guardrail and the person is down, and I was like, ‘Oh, somebody is in there. The windshield wipers are going.’ Called 911, you know, and explained to them where we were at, what was going on. Please send fire rescue. Please send the fire department, somebody. Get here as fast as you can.”

Authorities released radio chatter made by firefighters during the nerve-racking incident.

“They’re in the garage,” a firefighter said. “The vehicle is literally hanging from the edge. There’s a woman in the driver’s seat, but there’s no way to get her out. We’re gonna have to chain this vehicle and pull it back. It’s stuck on the ledge, so it’s pretty secure. I don’t think it’s going to fall.”

7News captured the driver climbing into the back passenger seat to escape the dangling SUV into the waiting arms of firefighters.

The entire rescue efforts took nearly an hour.

A short time later, the SUV was removed and lowered to the ground.

MDFR officials said the woman did not suffer serious injuries and refused to be transported to the hospital.

It remains unknown what caused the driver to go over the ledge of the parking garage.

“Your heart goes out to that person, and you just want them to be OK, and if you can help in anyway possible,” Askew said.

Miami Springs Code Enforcement made a visit to the garage for inspections and determined it was safe.

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