GMAC/ALLY REPOED MY TRUCK WHEN PYMY. WAS MADE BY MY DISABILITY INS.COMPANY. Bloomington, Minnesota

First, if you haven't already, file a police report and demand the repo person be arrested for theft, breaking/entering, whatever fits the bill. He/she might well have been within their legal wiggle room to take your truck, depending on circumstances, but try your luck pressing charges anyway.
Was your garage closed/locked at the time? Whether it was open for the taking may be important in defense of the repo person. but if you can show your local DA'soffice the proof that truck was paid up to date, I would think you could demand they treat the repo as grand theft.

Second, see if your disability insurer will help you fight Ally to get that vehicle back.
If not, sorry to say, you need legal help. If the bills were getting paid, it shouldn't take a world class lawyer to get action, and perhaps even compensation for the aggravation, loss of use, repairs/loss of value if they messed the vehicle up in any way, etc. Any schmuck ambulance chaser worth their license to practice ought to be able to get something done for you.

You need to have the terms of your loan gone over carefully to make sure Ally wasn't actually within their rights due to some fine print clause to preemptively strike and grab the truck due to your inability to make the payments without assistance, even a disability plan. I wouldn't think they could have legal cause to repo, but that's what you ought to have a lawyer tell you for certain.

I'm assuming the truck is worth more than your state's small claims limit, but hopefully you won't have to go as far as taking Ally to court.

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