It will depend on your current value but most likely yes you can. In Texas you can only take up to 80% of the value outg in cash. I would love to help. Please feel free to contace me at 817-944-8094 and let me get the specifics so we can get the ball rolling. I hope to hear from you soon!
Why don't you call your current lender and see if they can do some type of simple refinance, streamline or something. That would probably be the best bet and least costly.
A loan officer could run the numbers for you, but with such a small balance the refinance probably does not really help you. Your payments would not be significantly lower vs the cost to do it. Probably better to use the $2000-$3000 it might cost you to refinance to contribute directly to your loan and pay it off faster.