How can I get my car out of the impound lot

So my car was towed due to a lapse of insurance. I have the money for all the impound fees and I fixed the insurance issue. The problem is the registration. I can't pay the $500 civil penalty fee to restore it since I had already been in a similar situation last year but wasn't towed and had to pay the fee, and it will be at least 2 months until I'm eligible to do it again. Is there any way I can at least get the car out of the lot so I don't have to rack up $75 a day for impound fees?