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Yes, defaults are automatically removed on the sixth anniversary. After this period the debt is dead - plain and simple.
A formal default can only be issued where a live agreement exists. i.e. If you had a hire purchase agreement dated 12 Aug 1993, and you missed the next three payments Sept, Oct and Nov, the creditor would issue a formal default for the three months.
If you did not settle the default, the HP company would probably terminate the HP agreement once terminated no more defaults can be issued, as you cannot be in default of something that is terminated.
If the creditor failed to take action in the six years since the default: tough!
If you have your sums wrong, the creditor, or the new owner of the debt, can take action to recover the debt if under six years since their last formal action.
I would still look to settle for 10% of the debt and let them come back to you with a yes or no, and how much they will settle for: don't be too keen to settle!
A satisfaction notice will only exist for as long as the default has to go to reach its sixth anniversary.