Yes, from public property, if the vehicle or vessel blocks access to a public-use area, is abandoned, and you follow your own removal laws and document how you handled it.
Limited storage is eligible when removal is needed before the owner can be identified. If you find the owner, pursue storage and removal costs and credit FEMA its share.
Photos, location, ordinance followed, owner search records, and storage and disposal records for each vehicle or vessel.
Run owner searches as you go. Recovered costs reduce FEMA’s share, so a missing paper trail looks like you didn’t try.