What can I do about my overpriced dealership car that's being charged 3 times it's worth?

I put a loan out through Drivetime (which was a big mistake) and I'd like to get a different car with my business elsewhere. I've put 40,000 miles on the 09 Hyundai Sonata and its way too expensive. I'm paying 17,000 and 400 a month for a car worth 7,000… I'd like something else. I've paid on time every payment and have fair credit. I'm in need of a larger car due to the fact I now support a child and since it's the only car in the household there's times we have space issues since it's just a sedan. I'm looking for something like the Ford Escape I used to have, it was cheap and didn't have many problems except for having to disconnect the hood alarm sensor. Anyways I just feel like I got ripped off and want to do something about it

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