It appears that there are multiple issues here, and many of them occor ONLY because drivers allow them to do so.
As far as keeping your pay, that is illegal regardless of whatever contract you signed if they fired you. If you quit, you broke the contract and have to pay the price.
File a wage claim with the state DOL, and a labor complaint with the USDOL.
File complaints with the FMCSA for all illegal acts they engaged in, or coerced you to engage in. This is very important to do, as it builds a history on them and gets them investigated, and possibly fined or shut down.
It is illegal for any employer to ask, directly or indirectly for you to do anything illegal or unsafe. Just say no. You will usually get fired, but the law is on your side and you will prevail unless you give up and go away. That is what they count on. Don't let them win.
The whole purpose of the CDL was to make the driver the first line of responsibility and the first one to get the ticket, etc.
The best thing to do is to stay off the phone if possible. Use email, text messages, or your Qualcomm or Mobile Max if equipped. This creates a record that can be used in court or with the labor dept.
NEVER run illegally for anyone! Just say no. When you are out of hours, you are done! NO EXCEPTIONS. If the "force" or coerce you to operate illegally get a record of it and just call the highway patrol or DOT and file a complaint on the spot. Make a report. Now it's on them.
Be sure to file that unemployment claim too! Do that right away!!
You can also file a small claims case against them for leaving you stranded. I have seen this before many times and the USDOL and the courts are on your side. The rule of thumb is that if the company paid to get you there, they need to pay to get you home too.
File a separate complaint with the FMCSA for the fact that they booted you out of the truck and left you stranded. That is a safety and health issue and will impact the carriers safety rating. File the same report with OSHA.
Go public! Find an investigative news reporter that is willing to expose this company. get your story heard! Believe me, you are not alone.
DO NOT LET THEM GET AWAY WITH IT!!
Good luck!
ps...for the commentator talking about split sleeper...didn't they do away with that? The last set of rules I saw was a 14 hour continuous clock, then 10 hours off duty.