Look into a kinetic recovery rope / strap along with soft shackles.

One popular brand (no affiliation) is bubba rope https://www.bubbarope.com/recovery-ropes



uh... yt link https://youtu.be/2Oin_iHzPgA?t=337

Some nice D ring shackles are always good to keep with you along with a strap.

Pirate4x4 Biilivista's Recovery Bible.  Too imbibed to google fork it.

Good luck!

For the love of yourself and your family, get some education on how to SAFELY hook, pull, tow. The problem with flexible (stretching) tow-straps is they store enormous amounts of energy when stretched. If there is metal attached to the end and something breaks letting that metal go, it can, and sometimes will kill you or bystanders. There are tricks to minimize risks, ways to hook to minimize flying objects, etc. Many of those are simply unknown because people have never been properly educated on them. One resource I've been made aware of (and learned a lot from) is a free online publication Purdue has. I don't have a link at the moment but if you can't find it by googling PM me and I'll see if I can find it.