Mi Usa Dealer Gave Me Wrong Car Long Ago, How To Fix This Mess?

Location: Michigan
2016 I bought an used silver Pontiac Grand Prix from a local used dealer. I remember when I took it for a test drive and had mechanic check it for hidden issues, and I remember a cig burn mark in the middle of the driver seat like someone dropped a lit cigarette while driving. I went back, filled the paperwork, paid them, got keys back and title.
Everything seemed fine until last week when I had a visit from police. They found "my" car abandoned and burned, the VIN matches my record. Except my car was in the driveway, the same one I've had for 9 years. When I looked, the VIN does not match my insurance or registration.
From what I was able to find out, the dealership I bought mine also sold another silver Grand Prix the same day to a different person. My guess is the dealer(s) didn't double-check the paperwork and didn't realize they had the wrong title attached with the keys. Unfortunately the dealership closed permanently a few years ago, owner died.
How do I untangle this mess and keep the car I've had for 9 years and not lose it and get the burned out shell in exchange? What kind of lawyer would I need to look up for this? I get the impression if I did a straight title swap, I'd end up owning taxes on title transfer.
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