I swapped vehicles with a guy that lives about 120 miles from me and we each signed the back of the titles but the truck was impounded because it had no registration or insurance. When I talked to the guy who towed it he said I can get the dmv to give me a release form and he can tow the truck to my house how do I do this

How do you go to the DMV? Take the bus?

Where was the truck when you swapped titles? Did you drive it home? Were you aware it had no license plates or valid registration? Was it parked on the street?

Most state DMVs are online now, so you may be able to go online. But most likely you will have to visit a DMV office, present the signed title, proof of insurance and get the release.