Vehicle Financing

I'm contacting you with regards to my late sister's car which has a debt that has been outstanding for 7 years now since her passing in August 2013. Firstly we informed the bank of the passing and that we will not settle the debt with the estate money as the kids are still young and they should rather repossess the car. We were told that they will come repossess the car in December 2013 after her passing which never happened. The car sat at home for a period of 2 years before we started driving it around as we were waiting for them to come repossess it. We continuously told them whenever they called that they can come through and repossess the car and they even had the location of where the car was from the phone call. They stopped calling my mom and my late sister's husband for a period of 4 years and there is no way they can say they tried because these people never changed their numbers.

7 years later they miraculously show up at my friend's place who is keeping the car there due to me having left it there as i had to go work somewhere. They are saying the will come repossess the car or we must surrender it.

Firstly shouldnt have the bank came to repossess the car 3 months after the death. Secondly it's been 7years now already and no promises were made to ever settle this car or were there any letter of demand sent to us. Below is the abstract from the National Debt Advisors describing a prescribed debt.

Every consumer should know when their debt has prescribed. A debt is prescribed when:

A credit provider has not claimed payment, sent a letter of demand or issued summons A consumer has not made any payments/acknowledged the debt directly or indirectly for the time periods specified below: Personal loans, credit cards, retail accounts and vehicle loans: three years Mortgage loans, debts by court orders and money owed to the South African Revenue Service (SARS): 30 years Please advise on the above.