Of course not. All the co-signer agrees to do is pay if you don’t, they have no ownership claim to the vehicle. The estate of the deceased can remove the obligation since the co-signer is deceased, and the lender can insist the loan be paid of a suitable co-signer supplied, but the person with power of attorney of the deceased has no right to your vehicle, especially if the payments are up to date.
If they are saying they will, or might, take your car, seek legal advice.

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