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Was this agreement in writing between you and the bank?
Did you actually make any of the $200 payments to them with them accepting them?
Ok, if they gave you this agreement in writing, then it would be legally binding, and they are the ones in breach if they repoed the car and you have made all the $200 payments on time..
With that said, I can only opine that their legal dept wasn't notified about the agreement and told the repo guy to come out and pick it up.
So your recourse is to contact the bank with a copy of the agreement and threaten to sue them for breach of contract if they don't put you back in possession of the vehicle. If they refuse, you immediately file suit against them for breach of contract.