For my part, I'd consider approaching her to ask to buy it. I know it is a little off since the sofa was given to her outright, but this isn't really a social relationship, it is a limited-time business one so I think if you approach it in a business-like fashion, you could pull it off. "Do you still have the sofa that I gave you when I moved in? If you ever decide to sell it, I actually still have the other half of the sectional and would be happy to buy it." Maybe even put in a line about how it is hard to match furniture you already have to new pieces in stores?
I agree. Sure, I also agree that it's technically rude to ask for it back. But situations are not always so black and white. Maybe she is tired of that sofa anyway and wondering what to do with it herself. Maybe she wants to replace it. (Or maybe she already got rid of it). Sometimes situations are win-win even if they aren't technically following etiquette rules. It can't hurt to ask, especially if it's phrased in such a way as not to be a demand. If the OP offers to buy it back, rather than asking to have it back, it comes off as less entitled. For all she knows the response could be, "Oh no, please take it!! I've regretted bringing it in here as it takes up too much space and doesn't match the curtains."