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If they gave you the loan terms to sign and you didn't read it, it isn't illegal at all. You signed for a bad loan, and that's your responsibility.
The repo will stick. There is no way that a lender who took a $12,000 haircut on a repo is going to goodwill off the tradeline. Worse, they CAN sue you for the difference, or sell that to collection agencies.
Never, ever sign an auto loan without running calculations on the terms. This is a lesson many have had to learn the hard way, too.
Best bet for a car when you have poor credit is to only buy what you can afford for cash. I was at the auto auction last summer and saw some amazing deals for $1500 for relatively low mileage cars that are easy to maintain. No reason to get a loan with poor terms.
Who was the original truck loan with?
As to Herby's yes that repo will stick but you said you had secured another auto loan at this time, so you should be good. The repo's will be there but they will also age. After so long you can still get a car loan but it will likely be with a subprime lender, but they will report even though the interest will be high. I deal with it every day. Folks have Buy here pay here loans and are buried in their cars hen they want to buy from us who are a franchised dealer.
When you turned the vehicle over to them, what were the terms remaining on your contract, and did you meet them?
If you defaulted on your contract, it would be a voluntary repo.
However, if you met the remaining terms of your contract (i.e., no default), it would not.
If in doubt, consult an attorney or contact your state bureau that regulates repossession of vehicles.
Legality depends upon whether either party breached the contract, and whether they complied with any state regs or statutes defining repossession of the vehicle.