The legal action that may help accomplish the transfer is called a Writ of Replevin which alleges that the plaintiff has a legal right to the vehicle against a defendant who is wrongfully withholding it.You should consult an attorney locally who has some experience in these types of cases for further details.
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Yes, you can, and my colleague has correctly identified the kind of action you'd file.
This answer does not constitute legal advice and does not establish an attorney-client relationship.
Just let me add that, regardless of the value of the vehicle, this action must be filed in the Court of Common Pleas, presumably Montgomery County if you are in Narberth. Please feel free to contact me directly if you want to discuss how to proceed.