My ex put a PFA on me and has our car that is in both our names, how do I get the car?

If it involved contact with her, probably not. Since both of you are on the title, it is both of yours. It would be really difficult to take it from her driveway or whatever without her knowing it. If you can, it may still be considered "contact" under the PFA statute. It is as risk to take the car back.