Is it permissible for a married man with children, whose salary is insufficient for his essential expenses and who is in debt, to take from zakat money to repay his debt, knowing that he owns a private apartment and a car?

If you are unable to repay your debt, it is permissible for you to take from zakat funds to settle it, because in such a case you are considered among the indebted (gharimin). Your ownership of a residential apartment or a private car, which are essential for your needs, does not prevent you from being eligible for zakat.