Thank you to everyone for your thoughts and advice. All of the information that I could find for my county (Volusia) did not seem like it could be of use. I have read the Florida Statutes 715.07 about a dozen times now and that fifth part stuck out to me as well.
"5. Except for property appurtenant to and obviously a part of a single-family residence..."
My townhouse is indeed a single-family residence, it is obviously my spot, but we don't own the land, so that might not be able to help me. This towing company obviously read up on the rules as well. They had the correct signs, correct distence, the correct information. They even came at the correct time, half past midnight, that way you can't stop them in the act.
As of now, I feel like my best chance is hoping that my HOA rules has some information of value. I'm in the process of getting a copy but without it, there's only so much I can do.
When you tow a car because of an expired registration, you are towing it because it is considered abandoned correct? Well, my sticker just expired last month and my car is in good condition and definitely done not fit the description of an abandoned vehicle besides the one month old sticker. They knew it was not abandoned, they just towed it to be assholes. I'm definetly going to give that lawyer a call with my questions because I've got nothing to lose. I only wish that I got pulled over by a cop instead, it would have been less trouble.
I suspect that they were not given proper authorization to tow.