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Was there a probate done on your brother's estate?
The problem that you have is that until a probate of some type is done you can't try to get title to the car. The reason is that at the moment of your brother's death there was created a legal entity known as his "estate". That estate now owns everything that he did and owes all the debts that he did.
The law in CO states that a vehicle is considered abandoned when it is:
The owner at this point is the estate and so there is no way that the owner could have left it there with or without permission (since there is no executor there is no way to notify the estate). What I'd suggest you do is go and visit with a local lawyer that does Probate Law, you can find one at www.lawyers.com, and see how you can do the cheapest possible probate and then how to notify the executor (likely you) and the finance company in such a way that when they don't respond you can get a title issued by the probate judge.
That's the best way to handle it and it shouldn't be terribly expensive since you are only doing this to get one piece of property.