This is a nightmare! Almost $23k in debt (interest rate not specified)! Driving a very high cost vehicle! Unable to save up even $4-8k to escape the loan because the payments are eating you alive!
HAIR. IS. ON. FIRE.
As
@RWD points out, if you can somehow switch to a used economy car now, you will save much of that difference within a couple years. However, it sounds like you lack the liquidity to eat your losses and make that move. I assume this lack of cash flow is related to making payments on a Honda Pilot. This is a debt spiral. If you can't afford to escape this, you're also in no position to handle a health issue, insurance deductible, or unforeseen liability.
Your only option is to come up with the cash to sell the Pilot AND buy a well-used subcompact from some external source (or, much better, go down to a one car family).
@tyler2016 mentions a home equity line of credit. Is that an option to escape this mess? Do you have any toys such as boats, campers, etc. that the Pilot was purchased to haul?