If the car was discharged but you're still paying, they have no right to pick it up unless you stop paying, but they are barred by the discharge from reporting missed payments or repos on it now.
If you like it, keep it, and make the payments.
If you don't, you can stop making the payments and figure it will disappear someday. Easy peasy. Drive it until then.
It's actually a great idea to not reaffirm a car loan on something you want to keep because no matter what you want to do with it you can. It gives you the option to keep it or stop making payments later and let them repo it, but they can't do anything else. Win-Win
If you start having SERIOUS car problems that are too costly to even mess with, you could just stop making payments, all they can do is pick it up.
But until you stop making payments, they can not take the car, and would have to give you the title if you pay it off.
A car loan is basically two things. A promise to pay. And a lien on the title that says they can take it back if you don't. The discharge relieves you of your obligation to pay, leaving just the lien until it's paid off. This is why they could take the car, but they can't sue you or report missed payments or a repo. You have like the ultimate car loan now as a side effect of the bankruptcy.
If you're close to paying the car off, or you had better terms from when interest rates are lower, I think as long as the car is in good shape, you'd be hard pressed to do better now with a bankruptcy on your record. That's why most people would opt to keep the one they have.
You won't love the one you get if you have to go to a "bankruptcy lot" where they make you pay by the week and put a starter inhibitor on it in case you don't show up by Friday. 
In my bk7 I let a 2018 Kia Soul go. It was barely a year old when I lost it by doing a "abandonment repo". My ex was a co-signer and there was a, erm, court order telling me I couldn't contact him. So Kia wouldn't take it back without me getting in touch with the guy I could go to jail for contacting (at that time), so "unofficially" the woman on the phone said I could abandon it at a Kia dealer and take the plates off and take everything from inside the car with me, and they'd get it back to the finance company.
They ended up charging my ex over $5,000 to get the car back, and $4,000 of that was just to park it in Wisconsin for a couple weeks.
I didn't even try to save my car because of his name on the title. He did me dirty enough times. Time to let him have it.
Anyway, he never installed the security patches and he told me that it was stolen and destroyed in the "TikTok Challenge" by a vagrant in Seattle later on. The insurance company of his declared it a total loss.
If you file bankruptcy on a joint car loan, then they just go after the other person who is on the loan. That's why it's so much easier to get a car if you have a co-signer.
If someone ever asks for a co-signer, ask them why they can't get a car on their own.