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I am sorry to hear that you are having these issues and your ex is not helping at all..
Unfortunately, MN does not recognize common law marriage since abolishing it in 1941. That means that no longer how long you were together, you are legally just boy/girlfriend and neither of you has any obligation to support the other or pay the other's debts or bills.
If you entered into a contract together, then that would still stand as you would both still be liable for that debt just like in any partnership. But his verbal promise to help pay for your medical expenses is a gratuitous promise unsupported by consideration.... So that means that the promise is not legally binding.
As for the recurring payments, if you both entered into an agreement to split those costs, you can sue him under a breach of contract claim to have a judge order him to contribute his agreed on share of the debt until it is paid off.
Ok, then you are both equal owners of the vehicles and you can file a "partition" lawsuit to have a judge order a sale of the cars so that you can receive half the proceeds from the sale if you can't negotiate something where each of you keeps one car and takes over any debt on it.