If the CA DMV makes a mistake and you are liable for fees (towing/impound/administrative), you can file a court claim DMV document to make your case for getting the fees paid returned to you.
You must use CA DMV Form 10, Court Claim Form (under $1000). There is also a form for claims under $10,000.
This is not available on the CA DMV website, so you must call Customer Communications and request that one is mailed to you.
DMV Customer Communications: 916.657.6560.
This form is not widely advertised by the DMV, and after much trouble rooting it out I wanted to share this information with any others who may be seeking returned fees that were a result of a DMV error.