I donated a car to an individual, no 1098-c form but a letter stating that I have donated the car, car information and donee information, can I claim it on my return ?

I donated a car valued $2000 to an individual, I don't have 1098-c form because I didn't know I should have one, second it is an individual but I have a document stating that I have donated the car, with vin# and donee's information. Can I still claim this car on my tax return ?