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If we can, we will redirect the violation to you
They can, and they didn't. If they had passed your name and address to Camden, then Camden would have sent you at least three letters before giving up and returning to Zip to collect the money. We know they didn't do this, because if they had your fine would now be £195 (no early discount, and a late surcharge). That looks a lot like a breach of contract to me, but what do I know.
I have had a dig around on Zipcar's website and...
"What happens if I receive a ticket after my reservation has ended?
If the ticket was issued as a result of your reservation, you are responsible for it. Once we are notified about the ticket, we will charge you a £15 processing fee. If we can, we will redirect the violation to you. If we can't redirect it, we will pay the fine, along with any late fees and bill the total to your account, provided that there are no grounds to appeal. You will be able to appeal the fine provided the issuing authority allows you to and that you have valid grounds to do so. You will be informed of the process via email."
So I have emailed them again, asking why they couldn't redirect (they have all of my contact details) and also pointed out that although Camden are shite*, they do allow PCN appeals.
*I didn't say this bit. It's true though.