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You probably can register it; the only way to find out for sure is to try, but a lien shouldn't prevent registration. As they have not repossessed the vehicle, they probably don't plan to do so (although there remains a possibility). If you want to clear the title, you could ask the creditor what they would accept to release the lien. (Be careful, though - don't do anything that could be construed as renewing the debt, and don't give them any money except in return for a release of all claims and a clear title.)
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