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When one files Chapter 7, one's personal liability on dischargeable debts is extinguished. This includes vehicle financing. However, the lender still has a lien on the vehicle that is not affected by the bankruptcy. What this means is that the lender can still repossess the vehicle, but it cannot sue the owner personally for the balance of the loan.
Reaffirming helps to ensure that the lender will not repo the vehicle, but makes the owner liable for it again, and if the owner fails to make payment, they may be liable for it.
Herein, even if he is driving the truck, your name is ***** ***** mortgage. If it is not reaffirmed, then it may be repo'd (voluntarily or not) if payments are missed, but the person on the mortgage (i.e. you) may not be sued for it, assuming that the lender is added to the list of creditors.
So yes, assuming no reaffirmation has happened, one can simply voluntarily repo the vehicle by bringing it to the lender, and arguably not be liable for it.
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