if the car has been prev. reg is SA, you can wait for the rego to expire, then apply to register a vehicle.
obviously when you fill the form out you will put your name on...
i did this with one of my first cars, long story short, ex family friend refused to sign it over
after i paid it off after he had a blue with my old man,
the car ran out of rego a week later, the day after it ran out, i applied for rego all over again, in my name.
easy done, its MR1 form i think