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If you have paid you should go to the bank get a statement showing you are current and ask to speak to a loan officer or manager and give them information from the tow company and get them to call and get the vehicle released. You will have to pay to have it released so the sooner the cheaper. By statue once you have paid up you are entitled to take possession again (see bolded).
"If the holder of such contract does not give the notice of intention to retake, described in subsection (b), he shall retain such goods for fifteen days after the retaking within the state in which they were located when retaken. During such period the retail buyer, upon payment or tender of the unaccelerated amount due under such contract at the time of retaking and interest, or upon performance or tender of performance of such other condition as may be named in such contract as precedent to the retail buyer's continued possession of such goods, or upon performance or tender of performance of any other promise for the breach of which such goods were retaken, and upon payment of the actual and reasonable expenses of any retaking and storing, may redeem such goods and become entitled to take possession of the same and to continue in the performance of such contract as if no default had occurred." Conn. Gen. Stat. § 36a-785(c) (2003).