Help get my truck back :(

I purchased a Toyota Tacoma about a year ago on a two year contract. My husband and I were both working full time everything was in order. Then six months into the contract my husband was approved for workers compensation which was for a nerve repair. Since then things have been up and down for us. Instead of one surgury the conclusion was to this date three in a year period.  In this time frame we fell behind on our car payments, we spoke with the company and got it approved to continue our monthly payment. This last month things got messed up and we happened to miss the date prior to them issuing repossesion. My car became repossed and  it is our only life line to my work and to my husbands appointments. We live 40 miles outside the biggest town.  The amount needed to recieve my car back is $4000. I wish I could recieve a loan but with my credit being poor I do not have many options.