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No, Daniel Garrido does not die in the crash. Although he is knocked unconscious and initially presumed dead by Adrián and Laura, the film's major twist reveals that he was still alive when Adrián put him in the trunk. Adrián realized Daniel was alive but chose to push the car into the lake anyway, drowning him. This act makes his death a murder rather than an accidental killing.
Yes, Daniel Garrido dies in the crash in The Invisible Guest (Contratiempo).
Specific detail:
Daniel Garrido is the young man driving the other car involved in the collision with Adrián Doria and Laura Vidal. He is killed instantly (or very shortly after) as a result of the impact. His death is the central incident that Adrián and Laura attempt to cover up by dumping his body and car in a lake, which sets the entire chain of events in motion.
The summary misses the most critical plot point: Adrián murdered Daniel by drowning him, rather than Daniel dying accidentally in the crash. This distinction changes the genre from a cover-up of an accident to a cover-up of a murder.