She was left at the scene of the incident uninjured and refused medical attention.
New York State Police said the circumstances in which Ms Sanchez was taken suggested she may have been in imminent danger. But within hours of releasing the footage on Tuesday, Karol was found in circumstances not immediately clear.
It's not yet known if any arrests have been made in connection with the incident. The footage shows that the men fled in the car, which police said had two other men inside, down East 156th Street, according to authorities.
Police described the suspects as four adult males aged in their 20s, with "dark complexions" and wearing dark clothing.
Before Ms Sanchez was found, an amber alert was issued on Tuesday morning by the National Center for Missing & Exploited Children, as NYPD detectives were seen sifting through debris in a gutter near the intersection.
People who live in the area were shocked to see the surveillance footage.
"It's really crazy," resident Jennifer Cepeda told CBS2's Marc Liverman.
"Oh my God. It's bad, it's not good, it's very bad," resident Josephina Vargas said.
"I think it's horrible. I live up the block not too far from here, I have two girls," said resident Eva Tores. "I'm just watching over my girls now. I'm walking them to the train, picking them up, constantly having them text me. Just being more aware of the situation around and people around me."
