Convicted of embezzlement

Xavier, a friend of Yancey, requests, and is loaned Yancey’s car for a personal errand. Xavier subsequently decides to appropriate the vehicle. Xavier had formed the intent to steal Yancey’s vehicle when he originally asked for to use it.
DQ: (a) Based on the facts and, (b) based on the elements of embezzlement and/or larceny, can Xavier be convicted of embezzlement or larceny-theft of the vehicle? Why or Why Not? Explain