Legal Advice-Estate/Property Ownership

So I thought I would post this here to see what responses/advice I get, before people get on a soap box about asking legal advice etc, I will be contacting my attorney Monday, just can't reach him today and am curious as to what my options are.    The estate has been settled, house sold everything else split up etc, but a car remains to be dealt with.  The  car is owned by 3 of us that were heirs to the estate, I am two thirds owner of the car since one of the other two heirs signed over their ownership to me.  The problem is the remaining heir that only has 1/3 ownership just had the car towed from my house while I was out of town.  I have the title to the car in hand, have been paying insurance etc, however it is still in the family members name that passed away. the 1/3 heir is a complete irrational moron among other things and owes the two others of us approx $5,000 for expenses we paid.  What options do I have to get the car back and deal with this.  Can I report it stolen, can I go to their with a tow company and take it back etc.  Thanks for advice.