Banks do not want to have to reposess a persons vehicle , they take a huge loss when this happens. However legally speaking they are able to reposess a vehicle even if the person is $1 dollar past due. Now from an PR perspective this would never happen so usually the most they'll let a person get behind is 3-4 months (much less if its a subprime lender aka high risk, high interest lender). If they have reposessed your neighbours car its because the bank feels they were a sinking ship and the arrangements that were made just aren't sufficient.
In order to get the vehicle back the bank will more than likely make them pay the full arrears (back payments), bailiff costs, proof or reg and insurance, possibly more personal references and they will be watched closely to make sure they dont fall behind again. Sorry to hear about their luck
Oh and as for warnings there is always a written final demand mailed out before the repo goes down.
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