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I am sorry to hear of your health issues and the need to surrender the vehicle. You should contact the finance company and explain your health situation to them and ask if you voluntarily turn over the vehicle in excellent condition if they will waive any deficiency in light of your health problems.
To be honest, they probably won't because they care more about the money, but if they don't, then simply ask them how they would like to arrange the surrender of the vehicle. That way at least you may keep any costs for towing and storage down.
Does that make sense?