What are a co-owners rights regarding a car in the event of a tax levy?

Question Details:

When I was in college, my father co-signed my car with me. I made the payments and have been the primary driver for the last 6 years. I have been the one taking care of the car entire time. After finally paying off the car, I got the title but I never went to the DMV to get it in just my name. Now my father has a tax lien against him for unpaid debts, and they levied my car since he is still on the title of my car. I don't want my car to be taken away for his credit card debt. What are my options?

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