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Usually, selling exempt property is not an issue when filing bankruptcy. The concept basically is that you were entitled to the exemption and the value of the exempt property, so if you convert the property into cash, you're in no different position - legally. Thus, if you're selling your car for fair value underneath the exemption amount, there should be no issue. Here's a link that explains this: http://www.nolo.com/legal-encyclopedia/selling-nonexempt-property-before-filing-bankruptcy.html
If you want to finance your vehicle for a loan of $7000, which is what it sounds like you want to do, you can do that as well. The third party would need to have you sign a promissory note for the loan, pledging the vehicle as collateral. Then, when you file bankruptcy, the third party would have to file a proof of claim and you could then reaffirm the debt during the bankruptcy. This would generate you some cash and would also allow you to keep your vehicle.