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I am sorry to hear about the health problems you folks are experiencing. You are correct, the issue you would be looking at is a deficiency judgment. What you ought to do is call the company and see if they will work with you on a voluntary turnover of the keys and vehicle in good condition in exchange for full settlement of the loan. (ie: no deficiency). The likely won't go for that, but you should try.
If they don't, you might still turn it over to avoid repossession, towing and storage charges being added to the deficiency.
The felony thing you are talking about is if you purposely hide a vehicle to avoid repossession. It is hardly enforced.
Do you have any more questions?