I have no idea what the talk about the warranty deed is about or why it is relevant. Care to explain? Who owns the real estate?
You don't have to pay taxes on the property, but your lien might be extinguished in a tax sale.
For an amount that small, you would typically collect when the property is sold. I doubt that it would be cost-effective to pursue other remedies over such a modest lien. But if you want to know if you can foreclose and how much it would cost, you can always consult a local real estate lawyer and ask.

