Sorry to hear about your father’s health. It’s never an easy situation, but hopefully, this information will help you understand your options.
Generally speaking, the estate can liquidate (sell) the car to pay for the debt and keep the proceeds. However, if you have an interest in keeping the car, that’s a possibility. This issue may have to go through probate court, so expect a few months before it’s settled. Alternatively, you can ask your father to put the car in his will to you, which can circumnavigate the issues and time associated with the probate court.
In the meantime, you would have to keep up with payments on the car loan to avoid defaulting or repossession.