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Dealership made me the secondary owner to my own car
Your best bet is to refinance the car in your own name only. Hopefully a year of making the payments has improved your credit score enough. If not, you can approach a loan officer at a credit union and make your case (that you haven't missed any payments, etc.). A new title should be sent to the new lien holder, and  in that process, if your ex needs to sign any paperwork, it can be done while refinancing.