I've called TowBoatUS only once for assistance and it was this past season, believe it or not.
Second sail. Motor ate an impeller right outside the harbor (I highly suspect the yard guy did not open the seacock when he changed my fuel filters earlier in the week. Denies it, but the impeller was brand new, less than an hour on it).
Dropped the hook and replaced it, but could not get it to prime, so I reluctantly called. They could not have been nicer. As we were coming into the harbor under a hip tow, I mentioned something of my humiliation for needing a tow.
Without hesitation, TowBoat skipper said we would tell everyone that I was towing him in.