It depends on what state you live in. That said, questions to be answered so I can give you a speculative answer...this will all hang on: 1. Who's name is on the title of the car, 2. If the was wrecked and the insurance company totaled it, they will have the title and have sent it to the state saying it was totaled, so there no longer is a title. 3. How old is the car and was it drivable or junk? 4. Why was the car abandoned? And did you notify the owner to move the car, in writing? and did they respond? are they around the area and aware of where the car was and that is has been given away? 5. Who did you give the car to (relative?) and was money exchanged or any kind of barter agreement made? 6. What would you say the FMV of the car was when you gave it away?
See comments for the rest of my answer. This will include my disclaimer that I can only give you general information and I am not a lawyer. I am trying to give you info that any state will ask you.
there is also a law (strictly will stand in court) called a "mechanics lien which means that after a specified amount of time, and a letter sent via certified mail, you can take that document to court, and it legally is turned over to you