Sounds like you will have a tough time as you were late making the payment. The resolution would depend on what the contract says.
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You probably should consult with an attorney and have the contract reviewed. Depending on what is in the contract you may or may not have some recourse. Problem is the car is probably long gone as you say it was repossessed in 2010. They would have auctioned the car off by now so what relief are you looking for?
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