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It sounds like the lawyer is just threatening at this point. The girl already called the police and they didn't do anything. A private lawyer cannot charge you with a crime, that is what the police do.
The situation as you have described it is no different than any other one where the person drops a vehicle off and doesn't pay the bill...
The father has already spoken with the police, and they said it was a civil matter (which it is). They are not going to just charge father with a felony auto theft at this point, without at least attempting to get the car back first.
BotXXXXX XXXXXne: father is not going to be charged with theft, absent something you have not mentioned. He might get sued by the lawyer, but it sounds like father has a valid claim here.