Only a court order can substitute for a lien release if the company will not offer one. Typically, you'll need to sue the lender but also the DMV. As the court order must include the DMV as a party so that they can enforce it. You will find it in your local courthouse and include your state's DMV.
If you don't have a title in hand you'll have to process the lien release before you can sell it.
A payoff request allows a third party to receive the current balance due to release a lien or facilitate a business transfer (bulk sale transfer or liquor license). To release a lien or facilitate a bulk sale transfer, businesses must be in good standing to receive a payoff request.
The Clerk of Courts title office in any county will be able to record a lien. The owner's title and the security agreement or the owner's title and a properly executed application with the VIN and lien holder stated and $15.00 will enable the county title office to record a lien.