EMI paid against a deceased person

My father had taken a commercial vehicle loan from a bank. He passed away in May 2021 and we tried to visit bank branch to inquire if he had loan suraksha but he didn’t have it against the loan. We asked for other ways to settle the loan but were said to pay the EMIs in his name. Even though we didn’t have funds, we tried to pay the EMIs on time for next two years. Now, we reached out to bank and they said we could have settled the loan after his death. We have stopped paying EMI now but any amount in the bank account is directly debited by the bank against the EMI. nWe want to take action against the bank for not disclosing all the options to settle the loan. Due to ongoing loan, we have not being able to get the RC of the vehicle transferred and due to which even insurance claims are rejected.