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It varies by state. Some laws allow you to catch up on the arrears w/ fees to get your car back and others make you PIF to get it back.
I had one a few years back and was allowed to catch up on a payment or two with fees, and got the car back.
In most cases, they will allow you to recover the vehicle with up to date payments and all the fees (and sometimes the next payment due). You may only have 48-72 hours to do so though before they auction it off. The other thing is that if it is a lease, they usually have clauses in the contract that state if it is repo'd that you have yo pay the balance in full, not just the past due payments.