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In Texas, there are two types of ownership or title, legal and equitable. Legal means whose name is ***** ***** title of the vehicle. Equitable means who has the greater right to the vehicle. Under the facts that you have given it appears that you have both legal and equitable title UNLESS you made a gift of the vehicle to her. If she makes that claim then it will be up to a court to sort it out.
You can contact the police about it but they are almost certainly going to tell you "it's a civil matter" because that's what they always say in cases like this. That means to force her to turn it over you are going to have to go to court and ask the court for what is known as a "turnover order". They are fairly complicated to apply for and there are no forms available that I'm aware of and so you are almost certainly going to need a lawyer to assist you.