Regarding Title Loans

I have a title loan on my vehicle that is outstanding for over 90 days. I told them to come get the car but they told me they can't. After a couple of discussions on the telephone, I found out that the title I had given was the original title, but not the most recent one. I had thought that I misplaced the title hence the reason I got the duplicate. But I found it and gave them the original title during the application process. After I got approved, I fell into hardship and was not able to pay it. The car is still in my possession

Is the title place legally allowed to take my car? Or did they screw up and not do their job? What happens if don't return the car, would that be grand larceny? Isn't the original title as good as a duplicate? I am confused on what they want me to do. They want to speak to me in person but I am little nervous on why i need to go into the store.