The hitch actually makes an excellent rear recovery point with a stinger (inserts in hitch) and shackle such as Warn sells, and would be my preference for a massive stuck. That's what I carry and a couple years ago is what I used for a CNN satellite truck stuck in the mud (mild) I yanked. The hitch on the 4Runner pictured in this thread does not at all look like a factory hitch, nor a Class III hitch - looks like an aftermarket of the type I regularly rail against. Sounds like it did not do well in the recovery. Also, never use the ball on a hitch as an attachment point.
I'll see if I can find a Toyota standard for the recovery points though it may be something that's not going to be provided as some things manufacturers don't want in the public realm. Would be very interesting, though.
On the comments about the factory loop not being allowed at an event. I've never heard of this, in fact the events I've been at the organizers preferred vehicles with factory hooks versus unknown aftermarket ones.
On the ARB points - I have heard and subscribe to the point made here a while back that they were designed by ARB for high lift jacking, not recovery. They are simply too thin and seem like they'd fold sideways in any recovery that's not straight ahead. Mine seem to have a bit of reinforcement, but if ARB went to the trouble of this extra work and intended them for recovery they would have put much thicker metal on. So, I would not use them for recovery. The comments about putting a recovery point out on the wings are, IMHO, not a good idea as they're out beyond the attachment points to the frame where leverage to bend the bumper/frame can be generated. I feel an ARB modification for recovery should be in the center of the bumper and not outboard of the frame mounts. A thick backing plate BEHIND the center section, with a pivoting attachment point for multi directional use would be a great setup.
I should also state that if I were helping someone in a serious stuck where I'm going to be banging my strap to its max (15mph hit is rating at the 80's weight) I would only do it after personally padding and wrapping the strap around the stuck's axle. Yes, I'd require the owner to shovel it clear (heh). That much force is simply too much for me to freely volunteer to risk my life in front of. A recovery point coming off a stuck truck at that level of force would tear through the passenger compartment of an 80 end to end - through the rear hatch, all three rows of seats, you, and the firewall.
A quick story. Was once on a friend's boat that became disabled and we were under tow. The assisting vessel became antsy and began bumping up the tow speed to an unreasonable force level despite our signalling. The deck cleat began bulging the foredeck up and we realized it was going to fail so I grabbed a knife to cut the towline (first mistake was jumping in when it was not my vessel). Opened the windshield and leaned out for a quick slash I knew would instantly part the line (tow vessel was well over 100 feet off). Just as I had my hand out, the cleat tore free and the 2 lb chunk of stainless laid my knuckles bare as it launched. Before the pain hit, I recall the humming sound as it left - indicating a near speed of sound. It disappeared toward shore over a half mile away and we never saw a splash, so we assumed it made shore. I was extremely lucky I'd been trying to stay out of the trajectory (miscalculation as it came upward far more than I expected) and the cleat only grazed my hand, because if it had hit my hand I'd be typing with one hand today.
Since, I've seen a few "overbuilt" pulling systems fail and am always amazed at the forces unleashed. So, whatever you use and whatever the circumstances keep safety at the forefront even if you're supposed to be back in town for dinner reservations, want to get a straggler up a rocky face, or some other self imposed deadline looms. Recovery may be the most dangerous thing you ever do in your lifetime. Far better to leave someone stuck overnight than to place lives in danger trying to avoid it.
DougM