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check your local regulations, here is Pa I know you can just call the department and request an officer be present, no paperwork needed just proof of ownership.
Unfortunately I have already tried calling the sheriff's office to see if they will allow a deputy to come with me. It was a no-go. They said I had to have a document signed by a judge to have a deputy come out there.
That's a Constitutional Law issue. The presence of the officer at a repossession not covered by a court order can be construed as "under color of law" and as a violation of due process.
OTOH, you are probably covered under "self help" if you or your agent go and get the horse as long as there's no breach of peace. If you do this, let the police know when and where you are performing the repossession before you go.