Product: Vehicle loan or lease

i purchased a vehicle off of my uncle and traded him cars he passed away last year afterwards but I continued to register the vehicle in my name. He was also the borrower I don't have any contract with said lender but I do own the car and have tried several times to contact the financing company Regional Acceptance Corporation over the last 3 months notified them what had happened and tried to obtain the title since I knew the car was either paid off or very close to being paid off. On thursday they repossessed the car while I was sleeping, they broke down the fence to my back yard leaving it wide open and for my pets to escape and the person in charge when I call is not helpful in any way he talks as if he is trying to trick me and eludes any question without giving me any sort of guidance and just requesting things from me but when provided doesn't escalate this problem toward any solution he just says we will contact you if we need more documents. On Monday when the paperwork was sent to my uncle the previous owner of the vehicle i retrieve it since I'm in charge of his estate for now I lived here before he passed, I was giving him my XXXX and making the payments toward that and was driving the XXXX which had only 5 payments left. Since it was automatic deduction from his account I knew I wouldn't see a bill but they didn't notify my uncle or send any letter to collect any outstanding charge left on the vehicle nor did they mention it in the calls I made regarding this vehicle, and they are requesting XXXX $ now plus the impound fee of XXXX XXXX Which is much higher than the XXXX payments I had left, the account started with them 5 years ago my uncle bought this car and hasn't missed a payment XX/XX/XXXX this car was delivered and he had auto reoccurring payment option from his bank account which I am not completely sure of the exact closing date but it was around a month after his passing so most likely the financing company got a payment in XXXX last leaving 4 payments left to be paid off by XX/XX/XXXX. When they found out of him passing from my attempts to do a pay off and retrieve the title they repossessed it not knowing I had registered it in my name. If my uncle was alive he wouldn't be able to even retrieve the car since he isn't the registered owner anymore and neither regional acceptance corp or the towing company has yet to notify me where I can get the car they did send my deceased uncle paperwork but this isn't his car anymore and I need to get this matter taken care of immediately the damages to my life are already substantial I got suspended from my job on Thursday around XXXX after not showing up despite my attempts to have someone cover and my pets are stuck in the house now since I can't let them into the yard without them escaping, my dog XXXX is lucky to be alive I don't know how I found him, but now I have to clean the XXXX off the living room floor for now, and this house I stay at with my uncle is under for-closure so unfortunately the vehicle they took was my only means of shelter besides my transportation. From my research as well they should of sent some sort of 20 days to pay or quit to get payment from my uncle before letting the account go into a claim and they should not of entered on to private property to get access to the vehicle and it seems like more civil codes have been broken by this company but I would need more time to read, but with that im hoping to have this issue resolved