Please help me out!!

I bought my car with Toyota in 2019 and this is my 6th year infact I am supposed to be finishing paying for it this year. They seem to be giving me a hard time telling me their areas I am owing it has come to a point that they have threatened to reposses my car. They requested me to pay 10000 that I was owing or else they will take my car made arrangements with them when when it’s time to take the arranged money they only deduct the instalment money and not take the other money now they want it to seem like I am not living up to the promise I made. Please help me because their threats are making it hard for me to cope I live in fear as of my car being taken away fron me yet for the past 5yrs I have been a loyal customer and now that I am almost done they want to give me a hard time