Now as of yesterday 8/14/19 they say I owe $21,000 plus $5.50 per day and they are going after my wages. I was never notified about any court date to contest this action .
I assume this means the lender sued you and got a judgment (I assume "they" refers to the lender). Correct? If you're not sure, you need to figure it out.
If that is correct,you said you bought the car 20 years ago, so I assume you defaulted on the loan somewhere in the range of 2000-2005. Correct?
When was judgment entered? Has the judgment been renewed at any point since the time it was entered?
If you don't know the answers to these questions, you need to figure them out and then come back. Note that I'm now the third person to make a suggestion of this sort.
At the end of the day, however, if you've got a judgment against you, then the judgment creditor can enforce it by levying on your bank account and garnishing your wages (among other things).
But if I file for bankruptcy how soon after can I buy a house which was plans in December of this year?
You can buy all the houses you like, regardless of whether you file for bankruptcy. However, a bankruptcy will impact your ability to get a loan. How and how long it will impact that ability is up to the lender. Keep in mind that, if you've got a judgment against you, your mortgage lender will require that you pay it off before or as part of the closing on the home.