Car repossessed tonight after we had been current on payments

My family and I had our van towed away… repossessed tonight in Utah. We were current on our van payment but late on our credit card. Both loans were at the same institution . The last payment we made on the van you can see it be applied in the account on Dec 14th and then 2 days later someone at the credit union withdrew the Money from our van loan and apparently applied it toward the late credit card . Then gave us a late fee . We were not made aware of this until today . Is this legal ?

For context my husband was out of a job the majority of 2024. We have done our very best to meet all our obligations including making sure that our payments were made on time even when we didn’t have the money to do so because it was our family vehicle we scrapped and saved the entire year and made sure the payment was always on time . We were on food stamps up until last month and were just doing our best. We were told pay our house our car and food when in a crisis. So we did just that . However the most recent van payment was taken straight from the loan account , it’s shown in my account history . So THE CREDIT UNION caused the loan to go into default then tonight they came and towed away. They are telling us that we have to pay the entire amount of the loan for the van as well as the credit card to be able to get our vehicle back. We were very behind on a credit card loan. We have not been able to make this credit card current and have been served papers about the credit card loan but the van was never in Question. I need any advice I can get . Thank you in advance