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Looking at your current situation.
You owe about $13,800 and have 40 months left at an interest rate of 5.74% with a payment of around $380 which will cost you $1,395 in interest (using numbers you provided) if you go the remaining 40 months.
If you want to pay it off in two years you will need to add closer to $230 to each monthly payment for a new monthly payment of around $610. Doing this will save you $840 in interest.
Let's say you applied to PenFed to refinance a 2016 or older car and received their current published rate of 3.74% interest for 36 months. This would raise your payment from the current $380 a month to around $406. Your total interest would be $810 for the three years.
I would say if you could get the best rate from PenFed for a three year refinance you would save interest, have a payment that is about the same and keep your cash flow consistent.
Thank you @Appleman & @Kree. I need to evaluate the information you guys provided and I need to decide what would be in my best interest. Thank you very much for the input.