Is there a risk of having to forfeit your vehicle if you get a 2nd offense Minnesota DWI conviction?

If your vehicle is towed by the police after your arrest and it's not subject to forfeiture, what does it take to get it back? Do you need to go to court and get a release from a judge, or can you just walk in and pay the impound fee and drive away? Would you have to show a valid Minnesota driver's license to do it?