Consumer Portfolio Services (CPS) Threatening, Mean, Trying to steal my Paid off Vehicle Irvine , California

So I receive another call from one of the Agents today for CPS asking for my Vehicle.  I have informed them that I have now made 61 payments on my Vehicle on a 60 payment Loan.  They have sent a Repo agency out to my home to pick up my vehicle along with having a private detective call me and tell me that I am part of a Case filing on my vehicle and that my tags on my Vehicle are going to be suspended as  well as that of my wife's and my drivers license.  I called the local precinct court here and was told that the PI as well as the CPS was lying. I also called an Attorney here locally who deals with this and not only did he say that can't be done but, That it was a Strong arm tactic (Threat) to get me to relinquish my Vehicle.  This rule has been considered Unconstitutional and has been taken off the books as of 2 weeks ago. The State is actually being sued for this law.  (They recognized the situation) and took the law off the books themselves.  It is now considered an unlawful Repo.   I shared with the Repo individual what was going on and told him that my vehicle was going no where and that it was paid for.  The PI immediately called me asking why I would not give up the vehicle and I told him once again, that we have paid over the amount owing on the vehicle close to $26,000.00 on it.  I also told him that I want the Title to my Vehicle.  I have reported CPS to the Division of Finance and to the Attorney General's office.  They have several complaints about CPS, many for the exact same thing.  CPS called today again asking me to relinquish the vehicle and that I still owed $2,293.00 on it.  I told them no and that I wanted the Title..   They asked me to pay an additional amount and that they would investigate the remaining interest which according to their agent was what it was.  I told her that even if they picked up the Vehicle, the amount they were claiming was still less than the book price on it and thy would have to write a check for the remaining amount.  Book is $5,600.00.  She laughed and said that they were going to send out another Repo company to pick it up.  NOT happening.  I pretty much told her that I want my Title and that I was tired of being harassed and Lied to.  I Just Want My Title.  Vehicle is going no where.   She told me they were a 31 Billion Dollar company and that they weren't afraid.  Wrong statement.  I think it is time for a class Action.