How can I get my ex boyfriends name off the title so it is just me then? Car is paid full by me. says &?

How can I get my ex boyfriends name off the title so it is just me then? Car is paid full by me. says &. I screwed up, first time car buyer and was threatened and coaxed at the car dealer to add him too the title. His license is suspended due to a lot of tickets so there's only insurance for me. Well I can't renew my tags now because of all his tickets so I need him off the title. Is there any sneaky way to get by? Thanx so much!