The California statutes of limitations start to run when you have defaulted on an obligation, not when you have incurred that obligation. Whether or not the debt has become "uncollectible" is, to me, not the relevant question. If you defaulted on a loan payment and since have not cured the default, the date of the default starts the running of the staute of limitations.
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The short answer is YES. You can sell the car and have the proceeds applied to the loan balance. OR you can pay off the loan balance without selling the car, and thereby recover the pink slip from the lender. The lender's rights do not change just because your brother has passed away (and my condolences for your family's loss). You have two clear options -- and so long as the car is worth more than the loan balance, you should not have any problem. I hope this answers your question and...