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If the co-signer on my car loan dies, can the family take the car from me like they're threatening to?
If you've been paying on the car for three years, it's possible that your credit is in a place where you don't need a co-signer any more. See if your bank will re-fi with you as the sole debtor.  If they won't do it, find another institution who will.  The re-fi will take your grandpa off the loan, and whichever institution that does the re-fi will still have a lien on the title until you pay it off.  Then, if you can do this soon enough, figure out if grandpa can sign you off the title.