Bankruptcy question!

My husband filed bankruptcy in 2019 to get out of a mess his ex wife got him in with a lot of credit card debt. In that filing, they included a vehicle we have together. The attorney said it wouldn’t be included …but it was. So we have been paying on said vehicle for 3 years, and all this time it’s been showing as closed on our credit reports since they included it.

If we wanted to just let the lender repossess it because my husband doesn’t really need a vehicle, is that doable and it wouldn’t go against us because it doesn’t show on our credit report?

Can they legally contact us if we get behind on a payment and it was in with that bankruptcy?