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Did you call the police and alert them that your car was towed from your property?
You need to contact your landlord and tell them what their HOA has done and yes Arizona if the car was towed illegally which it was you can get it back with no fees. If you pay anything I would obtain a lawyer and file civil suit against the HOA (your a renter and dont belong in their group so You can sue) for towing your car the fees if any,pain and suffering and for the mere aggrivation that you go through as a renter there. If you move you can sue them for the cost of the move and deposit on new place etc... Most attorneys will give free consultation.