Tesla applied my payment to principal and repossessed my car

I’m at a loss for words with this company. I paid through the app a few months ago and the payment went towards the principal instead of the balance. Noticed it and called up Tesla. Was told it will be corrected and all is well. Months later with no notice or alerts, I wake up to my driveway empty. Just went back and forth with a rep that pretty much said tough luck, I need to come up with two months of payments and pay the repossession fee to get the car back. On the bright side I will pay off the car a month early… I’m deciding if I should get a lawyer because this is totally crazy business practice. We have been paid up for 3 of 4 years. That they can’t just adjust my account with some button presses.