Basically you can't - you owe on the loan, the whole loan if she decides she doesn't want to pay or if she simply cannot pay.
The loan company is not going to remove your name when it now has the ability to pursue both of you for the balance. If you were to be removed, she would be the only one they could pursue - and they don't want that!
As long as you are the loan, any repossession will hurt your credit as it will appear on your credit report.
The only other thing I can suggest is that you pay off the car and then pursue her for that amount in Small Claims Court. Of course, if she doesn't have the money to pay them she probably doesn't have the money to pay you.
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