I am sorry to learn of this situation.
If the warranty was not submitted, the dealer is in breach of contract and you can sue them for damages.
This can be calculated as the value of the warranty (so either they are going to be required to provide the warranty for you, they must get the warranty approved by the carrier, or they will be required to compensate you with a payment calculated as the cash value of the contract).
Short of filing a lawsuit, you can try to mediate the dispute with them - contact your local bar association and request referrals to mediators, a third party neutral can often help you reach a mutually agreeable resolution. Use the bar association's referrals to contact a mediator or two, the mediator will then contact the other party to set up a mediation session, and you can go from there - hopefully resulting in a formal or written settlement agreement, and save yourself the time and expense of litigation.
You can also report them to the PA Attorney General (the AG's office can investigate the dealership for fraudulent and unfair business practices - they do not enforce individual rights, so they won't recover damages for you, but they do enforce administrative and criminal laws, and can take action against the dealer, perhaps protecting future companies).