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Good evening. I certainly understand the situation and your concern and am sorry about your loss. Based upon what you shared above, there should be no issues with you keeping the car. I say this because you are BOTH on the loan and as long as you continue to make the payments, the finance company would have no reason or basis to take the car back. Even though it took both of you, his passing does not mean they can and will just take the car back. Their concern and how they make their money is by you making the payments, so as long as that happens, they should allow you to keep the car.
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I just wanted to follow up and see if you had any other questions or needed me to clarify something. I am here to help, so please let me know. Thanks!