Recover my vehicle/my life from unfair lender

Hi everyone, first thank you for even glancing at this. My name is Jessica I am 33 and have two boys 5 & 2. I am a full time 24/7 365 days a year single mom both financially and physically. From 2012- Nob. 2017 I took care and was a full time companion to my grandmother/mom-mom during that time my grandma bought me a new car she paid 10,000 cash. When she passed overnight my family who never came around never spent time with us or her suddendly had control and we were left with only our clothes and my car within a weekend. I used my car title to get a 1500.00 loan to get us into a home. I paid back in 1 payment 2250.00 but they said I still owed 1500.00 and did not release my title. I now have had my car repossessed 5 days ago, have lost my job because I can not commute and hour one way, and soon I will have to drop out of nursing school because I can not get to school also an hour commute right next to my work. Now they want 1975.35 to clear my loan, return my title, and give me my car. Which is a 2010 CTS AWD and low mileage for the year. It's worth paying to keep but most important I feel like I'm losing my life right now. I know many people have illness, no home, need help way more than I do and if I could help them I would, but I look at my babies and wonder what do I do.....I try! No matter what I have to keep trying. So thank you for your time God bless you and your family, and Merry Christmas!!