The stock finance answer is pay your highest interest loan first, which at a glance would be your mortgage. Having a car loan often requires higher insurance premiums, though, which could reverse that decision. You'll have to crunch the numbers.
The MMM answer is to arrange your life so you need minimal driving, sell your car, and get something cheap if you still need it. Is this something you could do?
I wouldn't sell investments to pay down the debt if I were you. For one, you need some kind of emergency padding, preferably not your 401k. Second, the loan interest rates are borderline, especially if you take a mortgage interest deduction. Your savings account is probably not a good place to keep $10K, so do something with the excess, whether it's paying down debt or investing. After that, just pay your debt down ahead of schedule, as long as there's no prepayment penalty.