My Bf’s Parents “stole” His Car. Is There Anything He Can Do?

My boyfriend bought a used car a few years ago for about $5,000. It broke down on him a few months ago, and it would have costed $4,000+ to fix it. His parents offered to pay him $1,000 to take it off his hands. His mechanically inclined father fixed the car himself at no expense and they decided to keep the car for themselves. They have only paid my boyfriend $400, and there is no way we can get them to pay the rest. They also have the title now. Is there anything my boyfriend can do legally?
EDIT: After talking with my boyfriend further, he told me he never signed over the title, so they are not the owners. However, they have changed the plates without consulting my boyfriend.
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