My car was in repo but i still have it

I (27m) had a car go to repo due to being laid off during the height of covid season years back and was making payments really late til it eventually ended with the bank sending me a letter stating they are going to repo it. I wait and wait but they never came to get it, no one knocked and of course there was calls but to be honest I couldn’t handle the feelings of disappointment in myself so i just waited til they knocked but they never did. This was 4 years ago and the car is still here in the garage (for reference i told them it was there) and i want to deal with this but I just don’t know if it will destroy my life. What do i do?