dont ask for youre membership fees back, by granting you membership they have a contract with you to recover your car. its best to get stuff in writing if possible, email them if possible, complain about the conduct of the aa person that attented, demand that they recover the vehicle,in a reasonable time frame, if they refuse tell them that you will arrange to get it recovered yourself and will then make a claim in the small claims court for the cost of recovery and any other costs incurred , whatever it cost to get home/fed on the day for starters , trips back to check its still in one piece etc.
my earlier comment about not expecting them to go off road was intended as a general observation... youve already said you wer towed out of the gloop.