If the driver or person in charge of a disabled motor vehicle is unable to expeditiously arrange for the removal of the vehicle from the main-traveled portion of a highway pursuant to § 32-30-4 , or from the right of way, or if a vehicle is an obstruction or hazard to traffic pursuant to § 32-30-14 , any agent of the Division of Highway Patrol, the Department of Transportation, a sheriff, or a peace officer of this state may arrange for the removal of the vehicle to a garage or place of safety, pursuant to §