Hello, I am happy to answer your question.
I am sorry for the struggles that you have gone through, but it sounds like everything is going to work out for you, if you can just get these people off your back.
Here are my thoughts. Call them and find out how much money is still owed. Is there any way you can pay it ALL off right now? Borrow it from a friend, whatever? Owing a friend is way better than owing these people.
Next, if you can't get the money, figure out the maximum amount per month you can afford, and just call them up, ask to sign an agreement with them. Offer as much as you can and say you can pay this to them right away.
In the end, if you keep going back to court, you will have to pay them this money. You are best off just giving it to them voluntarily and skipping the court part. Be sure to keep up with the payments and this should be over in no time!
I hope this was helpful and good luck.