The answer to both of your questions is yes. She can claim the vehicle. You can file a motion to lift the stay. This circumstance results from a recent court case changing the requirements for debtors to obtain a return of the vehicle. The Debtor can get the car back and then lose it again. Tread carefully, you do not want the hassle of a stay violation.
Question 1: Yes. This is listed in the bankruptcy at a minimum as a repossession within 1 year of filing bankruptcy. There are rules as to when you have to give the car back. I would seek an attorney.
Question 2: You only have to lift the stay if you did not repossess the asset prior to bankruptcy. You had possession at the time of filing. This would only be an issue if the car goes back into the estate.
An attorney will help a lot with your confusion.
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If you live in Arizona, please contact me for actual advice; this is just speculation. It certainly is not legal advice. I don't have enough information to give actual legal advice. I can only take the limited information presented and provide a idea of what you might do and how it may turn out.
You can request an automatic lift to the stay. However, you will need to hire a bankruptcy attorney to assist you. It is not clear from your question who was in possession of the vehicle at the time the debtor filed for bankruptcy. Good luck!