Return it.
You entered a legal contract that you did not honor. Doesn't mean you cannot honor it now.
Do the right thing even if you haven't for three years. It's not the finance companies fault you had problems so don't penalize them more for being kind enough to initially extend you credit.
Lots of people stop paying and try to hide it because its the only transportation they have but you have a ride now. Be grateful they didn't find it those three years.
Its not like they will arrest you. It is a commercial contract.
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