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Realistically, they had probable cause to be on your property. A noise complaint is enough to get them there. To get them inside the house, the need additional PC. Either possible drug use (smells or paraphrenalia) or possible underage drinking. That...or you letting them in. The guy above talking about the FBI agent just starting to walk in is typical. A smart cop (I know, I used to be one) invites himself in. If you don't stop him, you invited him in and now he's free to "observe" whatever he can and thereby you've given him PC to search your house, etc.
As far as them sitting in your yard yelling about taking your car, I would've called 911, demanded that a supervisor be sent to my house immediately and then thrown a royal bitch fit. It's completely unnecessary and childish for them to do that. If what you described above (which was a bit short and non-detailed) is all that happened, they had no reason to be sitting in your yard threatening, but then again you had no reason not to be in your yard talking to them like an adult.
Sounds like there's more to the story.
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