I NEVER use hard or steel rigging. NEVER. Lost a good friend when a cable snapped and it cut him most in half as it snapped back... The steel and cable and chain can build energy and hurt things and injure people. I only use fiber or fabric ropes.. Snatch straps and long tree straps and lift rigging straps are great. (tow ROPE for your winch is remarkably inexpensive and a LOT stronger than cable, and it won't snap back) I use soft shackles hooked to frame mounted brackets on the victim vehicle. Then it's down to ... pull first, then a little bouncy pull, on through to flailing at the end of the rope trying to build (just barely) enough kinetic energy.... I think the OP's question was what to tie to... I hunt for the lowest frame mounted thing I can find that doesn't have body work or steering parts attached to it and always try to pull as soft as I can and still get the job done.
Having a damage waiver for idiots to sign is a good idea too... Most of the time you'll never need it, but when you do you'll be glad you did! After all... they were snowflakey enough to get there in the first place, they may also thinks its your fault they're stuck too...