I have heard good things about Woofgang.

We take our dog to Dan at Buffalo Ridge (the one off of 466 near Walmart) and love Dan.
He's a nice man and treats the dogs kindly.
He does have some large cages but if a dog has a calm personality, you may find one in the room just sitting there or walking around free.

He lets you know when your dog is ready but doesn't put pressure on you to pick up your pet in ten minutes!
That is the most ridiculous thing I've ever heard.

Even though you will never take your pup there again, I do think you should let the manager at Petsmart know what happened.