How do you obtain title to a vehicle that the bank never repossessed after you defaulted on the car loan?

You need to get a release from the bank for that title to be brought over to you free and clear. There really is no way around getting the loan paid off before you can sell the car.

You may also wish to check your credit rating. They may have a mark against you that will prevent any future loans until this issue is cleared up.

This is not an unusual tactic for banks if the car has little net worth. You will realy want to get this cleared up before the car is gone!