I would take it some place else (dealer) to have it checked and get an estimate. Make sure and tell them about the towwing experience. Then I would take the repair estimate to the towwing company and tell them to cut you a check...if they refuse I would find a good atterney.
I am pretty sure the Mazda Tribute is a front wheel drive vehicle (in 2wd models). The 4x4 model has a trans axle so there will be no front drive shaft. Just a rear shaft coming from the trans axle/transfer case.