Is there anyway to get a car loan taken out for a new mortgage?

Three years ago, I jumped in a truck payment, which was extremely high. I have to buy three years of credit left. I’m really interested in moving the house from my parents, but this would only be possible if I could loan the truck was new in the mortgage. I have one payment instead of two payments. Anyone at all in this or any way to do this? I do not want to sell my truck and really would like added to a mortgage. Any help would be greatly appreciated. Thank you for your help.

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