You can get a movement permit at any DMV without an appointment. Show the signed-off title or some proof of ownership. You must have insurance to drive any vehicle on public streets. The tow company may ask for an insurance card and the permit before they release it.
You don't need to have your car to get it insured. Call your insurance company you may need the Vin number though. Maybe ask the tow yard for help getting that. After you can go dmv get a temp moving pass so that way you can drive it on the road smog it and register the proper way.
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