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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?
Possession is 9/10 of the law, and any agreement between you and your grandfather is covered under the uniform commercial code covering contracts.  As long as your fulfilling your obligation of making payments, the contract stands as originally agreed upon between you and the lender.  In short, the car is yours until you miss payments, sell it, or it gets totalled.  The fact that your upside down on value to debt isn't that big of a deal as long as you have insurance that is covering what is owed.