Yes, "wage earner" bankruptcy is Chapter 13 bankruptcy.

If the bankruptcy was dismissed before the repayment plan is complete, it is possible for the lender to resume efforts to collect the balance due under the loan and to pursue the collateral. Repossession is a matter of choice -- they may choose to try to repossess the vehicle, or they may prefer to leave the vehicle in the possession of the borrower while pursuing other options to collect the money that is still owed under the loan.

If the repayment plan was completed but the vehicle was not included in the bankruptcy, the same applies -- but if the vehicle has been unprotected from repossession for several years because the buyer chose not to reaffirm the loan, it's not clear why they would act now after doing nothing for several years.