Stole My Own Car From A Towing Company

I parked my car overnight at a Walmart parking. A private towing company towed it and when I found out the name of the towing company, I called them and they confirmed that it is in their possession since 2 days. Said it would cost me $610 dollars to pick it up the next day. The reason they gave was that it was requested by Walmart.

Next day, I went to the location, went into the lot and unlocked the car and drove it off. No one noticed it but there were cameras.

On the windshield there was a note showing the time first observed, time the tow iniatiated and when it reached the out. Reason checked was "non customer parking". With $310 towing fee and $130 per day storage charge

My concerns are

1. Can they report it as stolen? I fear that when I am driving, I might get pulled over for driving a stolen car eventhough I am the owner
2. Since they are not aware that I took it, I am afraid they will keep adding storage fees and send it to collections

It is currently parked in my private apartment complex

Also important to note that the car is worth $800 and I have been trying to repair it myself to save the high repair costs. $600 is too much for me. Any help is super appreciated. This is in California btw