I stole someone else's car from a tow yard, help

So I was driving a friend's car with their permission, which was under an llc. The owner is at least 10 hours away from where the car is. The tags were expired and it was towed in location: California.

I spent all day getting the registration renewed, getting a notified document from the owner to allow the police station to allow me to pay the fee and get the release for the vehicle. I went to the tow place, and despite having a certified digital letter, the police forms, and ability to pay, they wouldn't release the car, saying I needed to have a physical copy of the notarized letter. They wouldn't accept an email, and despite having a printer, weren't willing to print it off. They were also saying that the registered owner of the vehicle/llc needed to pay in person at the tow shop.

There was a gate that was unlocked, and I was able to get through to the tow yard. I took a remote gate opener from a tow truck that was unlocked, and drove the car out of the lot. I didn't break anything, and left the key and the door clicker. They had cameras at the lot, and the police station would have no problem associating me with the theft. I drove the car several hours away into a rural area and no one will find the vehicle if it's not driven on a public road.

I know that they had legal custody of the vehicle, and that I could be charged with trespassing and theft. I don't know if they would think of it as worthwhile to do so. I know that they technically still have the right to legal possession of the vehicle, and they can take ownership of the vehicle after a certain amount of time.

As far as I can tell, I might be effed if they decide to press charges, but I don't know if it will be worth it for them to do so. My thoughts are to call during their business hours and ask if they still have the vehicle, and when they see that it's missing, see if the owner can pay the fee and get the lien removed, and hopefully they will get the money they wanted and leave me alone. I was thinking that the owner of the vehicle could also sue for them losing the vehicle, if they were going to press charges.

What is the best option for me?