If your transmission was damaged during the towing of your repossessed vehicle which you recovered can you get the towing company or lender to pay for the damages?

Probably not. The risk was yours since towing was the logical next step for failing to meet the requirements of the loan. It was your failure to meet the requirements of the loan which led to the vehicle being repossessed which subsequently caused the vehicle to be towed. All the towing company needs to do is to prove that they used standard towing practices.