Wesbank wants to repossed my car even though I am paying my installments

I'd like to share my experience with Wesbank. After being with a client of theirs for over 19 years I would have expected a little more help from them. 3 years ago I had a hard time paying my installments in full... Needless to say was was in arrears. How ever since then I have been making my installments and haven't missed a payment for over 2 years... I had tried to make a payment plan but they insisted on me paying the full arrears amount which is impossible to pay 75% or full amount! So now I have been harassed by people that are contacted to wesbank, saying they want my car or they will send me a summons to go sit in jail! With no paper work with them... Has anyone else experienced this painful experience with Wesbank? And the people they are contacted to them and harassed by these men?