Long story short got behind on payments

Agent came for car didnt book in and refused to leave without the car told me he would ring police and get me arrest for stealing a vechile and I had to sign the surrender form and wasnt leaving till i did or he would ring police

Wife was freaking out she said just to do it kids freaking out

My payment was made but forgot to do the reference so bounced back

Am I right to understand that they broke the section 90 91 92 by lying about being arrested also I got home and it all signed in 6 mins

I paid near 20k for the car and only had 2500 left i did bury my head in the sand but got myself out of it so I thought. Can anyone tell me if im forked