Ok...the key here is if you had notice or not.
IF they sent you notice (to your address) and that notice had a schedule that was followed (in other words, if the notice they gave you informed the place you parked was a problem)? Then there is no issue.
But if they did not give you notice...or the notice was not followed?
Then you would have a case to sue to recover the towing/storage fees.
You could use small claims court to recover this money.
Small claims is a true "peoples court". The formal rules of evidence and procedure do not apply. So you can represent yourself (no need to hire a lawyer).
The process is simple enough. You head to the county court and talk to the clerk of the court. They can get you the forms needed to start. You file the claim, serve a copy on the defendant and wait for your day in court.
In court, be prepared to tell the judge what happened, and bring in copies of any evidence that supports your case. IF there are witnesses who can testify about what happened? Have them come as well.
Please let me know if you have more questions. I am happy to help if I can. Otherwise, please rate the answer so I may get credit for my work.