The first major piece of advice is to not hire any of these companies, law firms, or charities that claim they can cancel or exit you from your timeshare. At worst, they're scams. At best, they'll charge you thousands of dollars to do what you can do yourself.
If the TS is fully paid for and the maintenance fees are up to date, you can contact the resort or Westgate's legacy program and ask if they'll take your TS back. They might charge you a fee for this to cover closing costs and possibly the next MF but it will work out cheaper than using any of these exit/relief/cancel firms.
You can also list it for giveaway here in TUG's Bargain Deals section. You can offer to pay the closing costs (about $200) and, if you're serious about getting rid of it, the next MF.