Towing Issues: illegal towing???, convenience store chain, ridiculous act

Question
I went through McDonald's drive thru to get some food and parked in their lot.  After eating in the car, I left my vehicle there for 2 hours and returned with my car gone.  The folks at the restaurant said it got towed for abandonment (longer than 1 hour).  This was such a ridiculous act I could not even complain to the folks at the restaurant.  There were no sign indicating time limits or advising towing if vehicle left for an extended period of time.  Is this a legitimate tow or should I take action for the towing expense? This occurred in Madison, WI during the late evening.

Answer
Were there any signs of towing enforcement? If you left the property and there was a sign stating any type of towing enforced then they have the right to remove the vehicle since you were you longer a customer (you left the property). Once you left the property you are no longer considered a active customer and the vehicle was left behind without permission. If you think that is bad (without saying any names) a major convenience store chain will have your vehicle towed in 15 minutes if left unattended, meaning driver of vehicle not present on property. If there were no signs at all and the property owner/manager requesting the tow could have it removed under direction of law enforcement.