If you did not reaffirm it, the lender could have foreclosed on it (just like they could have foreclosed if you reaffirmed, then failed to make payments); however, if they never took action and the home is still titled in your name, you should be able to sell it. They had the authority to act, but you would not lose title or ownership automatically: they had to take affirmative action. That said, this is an oversimplification, and the interplay of property rights and bankruptcy is very complex; you are strongly encouraged to consult with a bankrutpcy attorney about the situation, to confirm that you can sell and also to understand what, if anything, from the proceeds you owe the lender post-bankruptcy.
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