Yup, our tile guy got his 2500 van and enclosed trailer stuck in the ice in our driveway a few weeks ago (might have been 9-10K pounds total weight). I handed him a soft shackle, hooked up the strap to my Lexus, and let him hook the strap up under the front of his van. He must have put it around a crossmember or something. Then I just yanked him right out. Easily detached the soft shackle and he was on his way.Another nice thing about soft shackles is they can go around things like a wheel spoke or axle (had to do this once to pull someone else) so you don't have to have another strap or compromise your winch line wrapping something that has a sharp edge. I soft shackle is a whole lot cheaper to replace than a soft winch line.
I've been attaching the other end of the recovery strap into the rear receiver on my GX, and securing it with a hitch pin. Seems to work pretty well so far, but I'll likely upgrade to an actual rear recovery point that is designed for soft shackles and maybe includes a mini skid.