We brought a used truck 3 months ago from an auto/dealership, and now the truck is broken, so we took it to a shop where we trust the guys and they said the truck is real bad... needs front drive shaft, front differential, and wheel bearings,and the exhaust is also bad... they also said it should have never had a pass inspection on it.
Is there anything we can do to make the auto/dealership pay for the truck to get fixed in any way..

Sure - start by getting the second garage to put IN WRITING the reasons the truck should not have passed inspection three months ago. You will have a problem with this written statement because a lot could have happened to the vehicle in those three months BUT apparently the garage is willing to make that statement - get it in writing and then contact your local DMV/Inspection Office.