This website offers tips on how to fight these quasi-thieves: Know the Texas towing law and fight back | Watchdog Nation Columns
Request a tow hearing in small claims (or municipal) court [find out which court applies in your situation by asking the police] within 14 days of the tow.
The court will hold a hearing within 21 days of filing.
If your car was towed illegally, the operator is not licensed or the license is invalid or expired, you might not have to pay for tow or storage fees.