There is no legal restriction on the time when a car can be repossessed. The repo agent will do this when they have the opportunity to do so, which can be any time of the day or night.
If the repo company can't repossess the car without breaching the peace, then the lender can go to court and go through the replevin process. The lender is basically taking you to court to make you hand over the car. If you lose the court case, then you have to return the car by the scheduled date.
New York gives you the right to redeem or get back your repossessed vehicle by reinstating the contract. You reinstate your contract by paying any late/missing payments plus repo expenses such as towing, storage, and legal fees. But you must act quickly to do this.
Identify yourself and your vehicle. Be sure to include an account number so that your lender can match your letter to your records. Explain that you're unable to make payments and intend to surrender the car. Provide contact information so that your lender can reach you.