My question involves an auto loan or repossession in the State of: CA

I had my car for over a year after not making the payments, the finance company called and threatened, but never picked up the car. (I guess they went out of business, because my cell phone and mailing address have not changed all this time and their numbers changed.) Around that time, I had lost 75% of my business accounts (not from getting fired, they postponed our services; it got worse and worse), and was in dire financial trouble (got divorced, lost my place and actually lived in the car for some time). I always felt so guilty driving the car, as before this I had great credit and have never been in trouble with the law. But I avoided trying to track down the finance company; I figured they would find me. I know that's wrong and I feel totally like a schmuck.

Things have gotten a little better recently, my tourism-dependent business just picked up some new accounts, but still a fraction of what is was a couple years ago. Finally, yesterday, not able to bear the guilt and living life through my rear view mirror, I parked the car in a no parking area and walked away. I went by there today, and it was gone. Although I have an amazing since of relief, what now? Do I need to call the finance company and report this to them? Or will the PD and tow company find out and contact them? I'm wondering, should I prepare for jail? I don't mind paying my debt to society, but the one thing I never have missed is the payment to my ex and my kids. Never. And I really don't want them to be ditressed anymore than they have been by being thrown out of their house and onto the street. I know you guys don't pull any punches. So let me have it. What should I do?