Bob's of Milford Got us a loan knowing full well that it was way more than we could afford. The car was overpriced ,which we found out later, Internet

In the ending you are the one who signed for the loan and the car. If you cannot stand up against the sales folk then find someone who can. I personally enjoy screwing the sales people over. There are plenty of ways to do it. Walking in with a check in your pocket gives you a lot of power. Nothing in your blurb constitutes a rip off. Sorry you over paid for a car however, you do not see the bank blaming the dealership nor the sales people. 

You have described a case of buyer's remorse which does not constitute a rip off.

The Job of a Salesman is to SELL.  Car Dealers are well known for "high pressure", but nothing you described here is really anything different than you hear about most dealers.

Being the voice of reason I tried everything to get out of the deal, but basically couldn't.  I walked out and let him deal with them. 
- Then perhaps you should put the blame where it really lies.  At your husband(?), because he is the one who didn't listen to you and get the hint that you need to leave.

If you learned anything from this it seems that you have learned that your significant other is not responsible enough to be left alone to enter into any contracts.  Perhaps he will listen to you from now on.  Since he got you into this mess perhaps you can make him pick up an extra job, even if it is picking up trash or cleaning restrooms.