There is one and only one way to “get off from under the loan” and that is to pay $6800 to the lender. Even if you make a trade and a dealer claims he will pay off any remaining loans, he simply adds the $6800 to the new car price and you are still making payments on this amount for many years.
So if you have the cash, use it to pay the balance of the loan. Do this tomorrow. As for wanting another car, no, no, NO! Not until you have cleared your debt on the Camry. Pay the existing loan and then review your situation.