What to do with an untitled abandoned vehicle in my driveway that is not mine-in Texas?

A friend of ours purchased a car from disreputable car dealer without a title, and then he could not renew the registration or inspection, so he parked it in our driveway until he could get a hold of the dealer, but the dealer disappeared. That was 4 years ago, and now our HOA is threatening a fine if the car is not removed. We want to donate it, but we are not sure how to do that without a title or knowing who the owner is or where to locate him/her. What can I do?