Stole My Own Car From A Tow Lot.

im a 21 year old broke ass college student, i live in california and this is the second time ive had to do something like this. I parked on a main street and apparently there was a marathon going on today consisting of people that don’t know how to run AROUND cars. But its about 7am and my brother notifies me that my car is gone. I didn’t see any signs saying NOT to park there. I call the lot, and i am absolutely mortified by the price they tried to charge. 600$ for towing and storing my car for less than 5 hours, 96$ to retrieve MY belongings along with the documents they required out if MY CAR, and another 150$ for my registration being expired. Absolutely not. I hopped the fence to the lot, i found my car, waited until they opened the gate and drove tf off. Now they’re saying my car is reported stolen, and if an officer were to enforce that, i would be arrested. is there any loophole or way out of this. its my car i just took it back.