the insurance company doesn't legally own the car. Without a lot more explanation as to why they would, there was no reason for them to pay the dealership. The guy that bought the car had legal title to the vehicle as proven by his contract. Until such time somebody wishes to challenge that, he owned the car and he subsequently transferred those rights to the OP.
OP does own the car. He needs to get a title whether it be through a bonded title or a quiet title action.
The insurance company would have no more right to "sell" the car and deliver title as would the guy that sold it to the dealership.