You're generally better selling your Z on your own. The dealer will nearly always offer less than what you could get from a private party. People do trade-ins for the convenience, but there is a cost in doing so.
Use autotrader to price your car, then offer for sale. If the going price for your car is higher than what you owe, then you payoff your bank, and pocket the difference. If the going price is lower than what you owe, then you'd need to pay the bank the difference in cash.
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