Car got towed yesterday .. would appreciate some insights

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Yep,
As I understand it the loan documents supercede all title documents especially if they were filed in error. If it were my car I would get the payments current today. pick up my car, have a long, slow, cold beer in a frosted mug and chalk this day off as one lousy thorn in a bed of roses.

Going to battle with a towing company is an exercise in futility. Those guys just love a good bloody brawl. Even if you prevail the process will be so painful it will take 5 years off your life. Surely you have more interesting ways to spend your time.