Did the police break any laws by towing my vehicles parked on the street in a residential neighborhood without notice?

If you believe the towing to be unlawful, you can file a petition with the local district or municipal court to get a ruling from the court on whether the towing was improper. The tow operator is required by law to provide you with the paperwork for the court petition when you ask the tow operator for the paperwork. The public streets do not belong to you (or to any other individual). You do not get "dibs" on the public street abutting your property. So, that your vehicles are improperly parked on the public streets in front of your property does not mean the police officer must go look for you to tell you to move the vehicles. Sometimes, some police officers are nice with knocking on doors to alert the violators of the parking laws. The officers are not legally required to do so. Police departments do sometimes do enforcement actions. That multiple tow vehicles showed up at your street means your neighborhood got an enforcement action (probably because some neighbors complained about vehicles just parking forever on the public streets). Even if it were true that the police officer was targeting you, you set yourself up by parking vehicles with expired tabs on the public street. You can always file a complaint against the officer with the officer's supervisors.