A lawyer might be able to help ... but, he might not.
If the tow company is still holding it, it could be that is because you filed the declaration opposing the lien sale. If your actions forced them to hold onto the vehicle even longer, then you may very well be liable for fees. I suspect that IF the matter is litigated, the fees may be capped at whatever the fair market value of the vehicle might be ... or allow the vehicle to be surrendered in lieu of the fees. Whether you stand a chance of successfully litigating the matter, that is hard to say. *IF* you had the appropriate documents at the time of the seizure and you presented them at the post-storage hearing but they were dismissed as irrelevant when they clearly were, then you might have a claim against the storing agency. I cannot say whether any claim against the tow company will be a separate action or if they can be combined into the same one. It may depend on the damages you seek and whether they will toss the matter from Small Claims to Superior Court. Others here may be more well versed in the civil process.