So what? If I give you the address to get the car for me, is that okay? I give you the wrong VIN a/o plate number? The criminal charges may go against the realtors rather than the repo people, but it's still a case of breaking in and taking other people's stuff. Any thief could get off if these people could. "Hey, I wasn't stealing, Sal told me to go take the stuff, said it was his".
A third party is really a side issue. What if the realtors themselves had done it? I can't go take your car and claim a defense that I thought it was mine.
I'm not a lawyer, so maybe there is a way to avoid criminal charges, but I don't see any qualitative difference. Afaik, bounty hunters are the only people who can get away with this type of thing, and that only because of an old Supreme Court decision. And they can't take things, only people.