If the current loan balance is at or below 78% of the original purchase price (assuming current value is higher), you can request the lender to terminate the mortgage insurance. Or, if your loan balance is no more than 80% of the current value, you can refinance if the new interest rate isn't significantly higher than your current rate. I can certainly help you review your options by calling me at 515-274-8501.
If you have an FHA loan, unless the loan was originated prior to changes that no longer allowed FHA borrowers to drop PMI, you can only get rid of it by refinancing into a conventional loan. That can be possible prior to reaching 80% loan to value...be you at 85% ltv or 90% ltv, etc...however, you may have to go to a higher rate than desired with lender paid mortgage insurance which then eliminates monthly PMI. You would then compare what you have with the new payment to decide if it makes sense or not.
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