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Hi from just answer. I'm PDtax. There are a few solutions I can think of.
One is to just sell the car you don't want. Sell it outright, sell it to a dealer, and pay off any loan balance still due.
The second is to trade both vehicles on a new one. That way you should be able to fix things and your new car loan absorbs any shortage on the two car trades.
Note that I did not address what happened, and or how it did. Only that you need to fix it, and how.
Thanks for asking at just answer. Positive feedback is appreciated. I'm PDtax.
From this side of your question, it would have been good to know you were $20,000 upside down in the first car. I think that what you mean by "I am unable to sell the vehicle because on the highway off which is $20,000".
Then the solution seems simple. Sell the second car. Once it is gone, and you likely don't lose much, you can trade the first car.
If that solution doesn't work for you, please advise. With the additional insight you provided, it seems to be the best of your options. Positive feedback is appreciated. I'm PDtax.
A follow-up to my earlier response:
If you were indeed 20,000 upside down in your old car, I suspect this was not a paperwork mistake. Trading in a car with that much to be added to the loan for your next car would be likely impossible. Lenders would not want to lend $40,000 supported by a $20,000 car. I suspect the dealership knew exactly what it was doing.
I did not suggest either legal pursuit of the dealership or surrender of either car. You won't win the legal issue, since you signed the contract of sale that omitted the trade. Surrender means credit rating issues and a larger debt you will have to pay.
Sale of the second car clears one of the two car loans and is the best resolution. I just thought you should know that this professional, 25 years experience in the car business, suspects this was not a mistake.
Your positive rating is appreciated. PDtax