can i exchange my vehicle

Yes, the dealer will take it back and sell you another vehicle, but like Ed said. You don't have to pay it in full. But the transaction of you trading your vehicle in, you will be out a few thousand dollars, not a couple for your efforts.

Dealers don't exchange vehicles, unless that's part of your purchase agreement. They might buy it back, after all, it's only slightly used and you're titled as the original owner. They will will like to sell you another car. You'll lose a lot in the sale-back of your current car.