New Zealand Law
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The agreement with the dealer is a contract to sell the boat, and if you decide to cancel the contract, the dealer cannot now sell the boat. If you can show by an email or phone call that you cancelled the contract with the dealer to say it's not for sale and to take the boat off the lot, then he cannot sell the boat under your feet. You should tell them that there is a new security on the boat in any event, and that if he tries to sell the boat the finance company will take it off any purchaser. So you can insist on uplifting the boat, and the dealer will just have to explain things to this purchaser
They could try to sell, but with the finance on the boat, they would need to pay off the finance before they sell. Perhaps the next step is to tell them that if they continue to try to sell, you will get a court injunction to require him to release the boat and claim damages for this
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It would help if you confirm if the dealer is a licenced motor vehicle dealer