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It is my understanding that as long as his case is pending and not completely finalized, automatic stay applies which means i can't collect money from him.
You can't pursue collections against him. But there is nothing that would prevent him from voluntarily settling a debt by offering to pay you to release your lien.
But if you come to an agreement, you can get that in writing between the two of you and then have the title company cut you a check directly from the the proceeds of the sale of the property and you go to the closing to get the check and sign the release.