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Were you were permitted to have the boat in the parking structure?
If the management company knew the boat belonged to you, then they should have contacted you to advise you that there was a problem before having it towed. Or, if there was a parking sticker on the boat, indicating that it was legal for it to be in the parking structure and with the authorized sticker, it would show that you owned it, therefore, they should have notified you....so yes....I would definitely say that they are obligated to inform you if this is the case - and/or according to the rules/regulations/terms of your lease. Thus, it would appear that you have a case.
Also, if you know of any other such instances in your building whereby other tenants have complained about goings on in the parking structure area, this can work against the management company as they are not supervising properly. You would have to ask other tenants and perhaps obtain affidavits from them as evidence should you take them to court.
If you have any further questions, please let me know.
Peace, Love & Happiness,
The Mystic Wave