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If you have any unpaid tickets or unresolved legal matters related to the car being impounded, you'll have to clear those things up with the court first.
Once all fines and legal matters are resolved, you can get the car out of impound by simply paying the fees due. You'll also have to have proof of insurance before they'll release the vehicle.
If the original owner received payment for the vehicle, he/she doesn't own the property and should not do this. It could be considered fraud since the owner has transferred the proprety.
If you buy the car from the current owner, get insurance, etc., it is not likely that the car is going to be released until all of the issues are resolved and all holds released.
No, it doesn't resolve the issues because there are still outstanding fines/tickets related to the current owner of the car when it was impounded.
Until the driver's issues are resolved, you should not expect to get the car out of impound.