Ex Finally Gave Me Back Our Car, But Left Me With 3 Months Of Late Payments And More

Location: Arizona
Hi! I wanted to provide some background and ask for advice. My ex and I co-signed a loan for a 2023 SUV. We've been broken up for about a year and a half, and during that time, he consistently made late payments on the car loan. As a result, my credit score dropped from 700 to 390.
He finally returned the car to me a few days ago, but only after missing three payments (he stopped paying in order to get a new car for himself). The SUV was in terrible condition when I got it back. I had to replace all four tires and do a full transmission and oil flush because it hadn’t been properly maintained.
Originally, I was planning to voluntarily surrender the car. However, my family offered to help me with the payments if I got my driver’s license and started using it myself.
Now I’m trying to figure out the best way to remove my ex from the loan and title. Unfortunately, due to the damage done to my credit from his missed payments, I don’t think I’d qualify to refinance the loan under my name alone, or with a cosigner. The title currently lists the owners as My Name OR Ex’s Name, if that makes a difference.
He initially agreed to give me the car because we both planned to surrender it, but I’m worried that if he finds out I’m keeping it, he won’t cooperate or sign anything to remove his name (he’s a very spiteful person.)
Does anyone have any suggestions on how I can get him off the car legally and make it solely mine? I just don’t want him to benefit from me fixing it up since he destroyed my credit with it, I don’t want to benefit his credit in any way if I can.
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