It's important to note that even if there was no bank involved and you made payments directly to the company, if you voluntarily surrendered the vehicle, it can still be considered a repossession. Repossession occurs when a lender or creditor takes possession of a vehicle to satisfy a debt. In this case, the company you were making payments to is considered the creditor and they have the right to repossess the vehicle if you default on the payments or breach the terms of your agreement.
If you have any concerns about a potential repossession, it's important to contact the lender or creditor immediately to discuss your options and try to reach an agreement that works for both parties.