Is what the questioner did, taking a gas cylinder as compensation for damage to his car, considered permissible or forbidden?

In conclusion, if the situation is as you described, the person is liable for what he damaged in your car, and you both must agree on compensation, or refer the matter to experts. It is not permissible to take the bottle from him by force, unless it is a guarantee for his attendance, or if he refused to fulfill his obligation and you could not obtain your right except by taking it. It is advisable to refer the matter to the concerned authorities to compel each party to fulfill their obligations.