When my car got towed by the cops, I picked it up at the lot of the company who towed it.
All I had to do was go to the police station, get a release, bring the release to the tow company, pay the surcharge ($200 for me) guy handed me my keys, and I left

this might not be your case depending on your area

but even if you went to an impound lot, I dont really think they would be watching you :\