Unless I missed something, I don't see where the author and her husband made any poor choices. Keeping the paid-off vehicle is prudent[0]. They were making a combined income of $120k, according to her, when they chose to have a child. Only after the pregnancy was her husband laid off and they couldn't have easily foreseen that the babies would have health problems. They bought a house but the timing wasn't their fault and it's almost impossible for a layperson to predict. In short, they discovered the true meaning of "shit happens."
0 - That's one thing people might want to keep in mind when they see someone talking on an iPhone while paying with food stamps. It's far easier to keep what you have than to sell it--usually at "fire sale" prices for quick cash--and try to replace it with something cheaper. If I ever lost my job, two of the last things to go would be my paid-off vehicle and my dirt-cheap unlimited data mobile plan with smartphone.