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breach of the peace.
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Yes.
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she was held against her will
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No. She was free to walk away at any time. No one held a weapon to her and made her stay there.
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extortion to get the car with threats of arrest
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I believe this falls under breach of peace.
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not to mention the finance company does not have a title/lien to/on this car
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Are you making payments on a loan for this vehicle? Did you miss any? I suspect that even if a lien has not been filed, you're still on the hook and the repo will stick.
You'll need a lawyer to sort things out in any case, but I wouldn't be too confident of winning a judgment against the repo company.