Secured debt is "discharged," but through seizure of collateral. If DSP had an expensive car above the exemption (worth 16,000 where he owed 10,000 - I know DSP doesn't pay loans in a way that would allow this) his car loan would be discharged, but they would also take the car. You can think of it as "court takes the car -> car loan is unsecured -> car loan is discharged" if you like, but there's no real distinction. If the loan is unsecured the debt is gone; if it's secured the debt and collateral are gone.
I also don't understand your distinction between a lien/debt. The mortgage debt is the amount owed; the lien is what secures that debt to the property. It's just the claim the bank has, which lets them foreclose if you don't satisfy the loan terms. The debt always exists, but is secured by the lien. Midfirst still has the lien as long as the debt is unpaid. Your link doesn't include the words "lien" or "debt" so I'm not sure what you're getting at. Deficiency judgments are unsecured debt (since the property belongs to the bank by then), so unless Midfirst does some 4d chess move to pin it to WAkhando DSP gets away.
As for his HOA fees: he's required to pay those due to separate legal reasons in his condo contract until it leaves his name.