Struggling to pay your loan: Vehicle loan or lease

I wanted to trade the car off but the place I got it from wont work with them anymore because of past disputes with them. Im willing to refinance if theyll let me with a lower rate but I have no hope that will happen. Im willing to work out some plan to get out from under it like paying back what the car is actually worth. The name is credit acceptance and I know theyve had lawsuits in other states. I had no idea what I was signing up for nor did I have a choice who I lended with. Im trying to rebuild my credit. I want to be amicable in this, I understand I made a bad choice.