Normally, as far as bank is concerned, they will not finance a used car loan if the owner remain the same (re-financing). Technically, you need to "sell" the car to another owner, I.e probably your family member and only then, the bank will consider to grant him/her a loan.

As for the outstanding loan with your company, depending on the terms and conditions of the company loan, I suppose you will need to do full settlement using your own fund, before they can release the ownership claim. Is the car registered under your name or under the name of your company?