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Try kbb.com or edmund's.com. You should be able to get an approximate value of the car. Then subtract your prinicpal balance and you have your equity.
Do not be surprised, however, if you don't have any or its a negative amount. A car loses a lot of its value early on. So it takes a long time to build equity in a car if you ever do.
You can use either the private or retail values. Private refers to the value in a private sales. Retail is dealer value. Trade In is what you can expect from a dealer when you trade in for a new vehicle.