Car towed while eating at a restaurant, put $300 and no recourse?

My wife and I celebrated my birthday today at Casa Do Brazil near the Galleria. We were in there for quite awhile, and when we came out our car had been towed. The towing sign in the parking lot says for customers, which we were and can very clearly prove. The towing company told me to take it up with the storage facility, and the storage facility said to take it up with the towing company. So now, I'm out $315 for an Uber and getting my car back. How is this legal and can anything be done to make this right?