It's all misleading, to say the least. Regarding the tax ads, for a fee they will supposedly help you negotiate with the IRS. The IRS will make a deal to recover some money, as merely sending you to prison is a money loser. You can negotiate with the IRS directly, but if you owe them massive amounts of money it's likely you've committed some criminal offenses, in which case you better have a lawyer talking to the IRS.
About the debt relief commercials: the credit industry wants to keep the debtor on the hook, if they can dupe you into using one of the credit "relief" companies then they can have you re-affirm your debt, and make it harder for you to declare bankruptcy later on, when you come to your senses. Divorce and unexpected medical bills can lead you into financial hardship, but in general the best way to be tax and debt free is to pay-your-bills.