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Removing relays keep em from starting your truck. Using The Club (or chain as someone posted) would prevent steering. What's next? Do we all need to start booting our own vehicles?
That's a standard rig the repo guys use - get in and get it out before bullets fly. In this case the bad guy has the tool for the theft... BUT, wouldn't the truck skid all the way down the road? Parking brake/in park... Maybe there's more to this story...
In a hurry, they probably cut the driveshaft with a Milwaukee Hacksaw. It has little salvage value, and it's just a thin steel tube. An impact wrench would be a little more noisy, but still could do that, also. Few people use the parking brake on level ground with AT, and if so, cable cutters would be real quick under the driver's door. Anyone physically seeing the steal probably thought it was a recovery.