Consumer Protection Law
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Unfortunately, under NM law, they do not have to provide a written estimate for work under their laws. This means that when you brought the truck in for service and did not specifically tell them if the warranty would not cover it or it would be more than a certain amount, they could legally take that as implied consent to make repairs. NM also follows the legal theory of "quantum meruit" meaning the mechanic is entitled under the laws of equity to get paid for the work done and to not hold you as owner of the truck liable to pay for the work done on the truck would be deemed "unjust enrichment" under the law as you are getting the benefit of the new part and a working truck.
So, I am afraid that even though they did not get a specific authorization, the NM law is silent about this which allows them to do this and you are liable for those repairs.