Quote Quoting seenaroxon
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1) Aren't they required to double-check before they tow a vehicle if the registration IS in fact expired or not?
No.

All they are required to do is look at the sticker that's on the car. If you didn't replace an expired sticker with a current sticker, that's on you.

Quote Quoting seenaroxon
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I called the police again who told me I should file a report for stolen vehicle and contact the DMV also to report it stolen.
Dumb idea. The police already told you it was towed. What kind of idiot then tells you to report it stolen.

Quote Quoting seenaroxon
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I wanted to ask an attorney for advice before I do anything. I've been calling around, and one person answered and told me that yes, I should file a report for stolen vehicle. She said she was one of the attorneys there at that firm, but that another attorney would call me back.
Never rely on phone advice from an attorney's office. It would still be filing a false police report and I can't believe that the police and a lawyer are actually telling you that when you tell them your car got towed for an EXPIRED STICKER or aren't you making that clear?

Quote Quoting seenaroxon
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2) Should I go pick up the car and pay for it?
Yes.

You aren't getting it back any other way and storage charges will pile up.

Quote Quoting seenaroxon
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Do I file a small claims dispute/suit before or after?
Don't waste your time. You won't win it. Your car got towed for an EXPIRED STICKER. Nobody did anything wrong to you.