Haven’t Made A Payment On My Car In 6 Years. No One Has Called Me. No Letters. No Repo. No Nothing. What Can I Do Now?

They knew where I lived and were very quick to call me when I was late before I stopped paying. I also have the same phone number.
The loan was through a big international bank and my mother was the co-signer. She passed away in 2018 and I called them to tell them and transferred the loan into my name only. I became very depressed and stopped doing a lot of things I should have after she passed. I figured they would just come repo it and I didn’t care at that point.
I got a lot better after about a year but was too scared to call them about it. And at this point I have no idea what to do.
Any advice would be helpful, or even directing me to a better subreddit to post. Thank you.
Edit: yes I know I’m a piece of shit for this, I am not proud. I also ran a credit report and it is not on my credit report.
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