I haven't met a lender yet that wouldn't at least consider at a reasonably viable alternative when the only other option is a repossession. That's not to say they won't pitch a fit, raise the dust, and scream and holler, but in the end the choice between expensive repo and simple short-term collateralized note is pretty much a no-brainer.
If they've kept their noses clean on the payments and aren't currently behind, the most lenders would welcome the opportunity to get all their money back in the easiest possible way.
Brad