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It is not illegal to have your truck removed from private property.
This is the same as leaving it without permission on someone's driveway.
You only had the privilege to park their if you paid the fee that was required. You did not have a right to park there.
Anyone can have a car towed off their own property.
I am sorry this happened to you. We've all done what you did and many years ago my car was towed from a private parking lot as well. I understand how you feel. I had little kids with me at the time and it was a terrible situation for me.