First, get the car back after paying off the loan in time.
The second is to negotiate with the loan company to conclude a new repayment plan, and take the carriage return under the understanding of the loan company.
Third, even if the loan is not paid off, you can confidently ask the loan company to return the car immediately, because although the car was mortgaged to the loan company and loans overdue did not return it, it is illegal for the loan company to tow the car away. The realization of the mortgage right is either that the mortgagor cooperates with the transfer and goes through the relevant procedures, or that the court enforces it according to law.
You obviously didn't cooperate with him. But then again, you still have to pay back the money you owe others. Only by returning it can we get the car back more smoothly. Even if the loan company illegally towed your car, you can sue the court to get it back and punish the loan company, but the loan company can sue you again and you have to pay back the loan company.