You need to start by paying to get the car released. Then you need to go back to the Wendy's and see if there are any towing signs posted telling customers that cars parked there over a certain time would be towed and if there are not, then you have grounds to seek to sue Wendy's for towing your car. If there are signs posted regarding towing, then I am afraid as you were on private property and it was posted that they can tow you and they are not liable to you.
Had you asked the manager and informed him of the problem (you said you did not notify anyone) then you would have had an argument that the manager gave you permission and knew the car was dead and was waiting for a tow. However, without any notice to the manager and permission, I am afraid that is going to be a problem if the lot was posted.
If there was no sign posted saying you could be towed, you would have grounds to sue them for unauthorized towing of your vehicle without posting the notice to patrons that the car would be towed and you need to take pictures of the area to show there were no signs as your evidence.
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