What Forms or how to prepare a motion to set aside default judgment and lift warrant for missing hearing because I was never served

The clerk of the court that issued the warrants would be my guess to get the proper form.

... proper forum.

I think you mean form.

If a default judgment was entered, it would be a civil case. In civil cases, normally warrants are not issued for missing hearings. The penalty for missing such a hearing can be, as in this case, entry of a default. You wouldn't be arrested too (unless there is something you aren't telling us).

Is some sort of contempt of court possibly involved?

I think you mean form.

Yupppp! ;D

You should have received paperwork along with the judgement that states how to contest it as well as some timeframe to respond. As far as the bench warrant is concerned your going to have to answer to that matter in front of the judge before it can be lifted.