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This is not a direct response but this Youtube video is a good watch for anyone else reading and trying to understand why the tow ball and the tow hitch should never be used to tow someone out. There's plenty of over good videos out there but this one resonated with me.
We should be careful not to conflate the tow ball and the tow hitch. The tow ball is not a good recovery point for the reasons this video teaches. The tow hitch is a perfectly acceptable recovery point on most vehicles *if* a proper recovery point is installed in the hitch. The Factor55 Hitchpoint is one good option, and there are many others.
Online instructions and PowerfulUK's video are also very useful.
Thanks! I am almost convinced in giving it a shot. Did you have the mudlfaps? I have them, so am a bit concerned on having to take them out and installing again.