I am sorry that this happened but glad you are ok. I wheel a lot alone and really do worry about this type of stuff. It always happens when you least expect it over "simple" stuff. I came really close in Moad a year ago. Simply slipped the down hill front tire of a ridge in a switchback. All driver error on my part.
2 days ago i got in a serious pickle on a shelf road. Nothing as dramatic, just twisted cadi corner in a narow shelf road in loose rock with pass rear tire on the edge. It too 2 hours of winching from mult points to get it straight. But things could have gone really wrong.
It sounds like you guys handled this very well. But my situation and yours makes me want to add a snatch block to my bag. The ability to pull trucks at angles is very useful. Without a pully you can mostly only pull a truck torward other trucks with a winch. But add a pully hooked to a tree and you could pull that fj back to the pass side and hopfull on its wheels. It might have also helped in my situation to pull the rear back inline with the trail.
Dont take that as criticism. My mistake was way more avoidable than yours. I am just stating the value of a winch and a snatch block.
I have found that winches pull with a lot of force and the angle to the ancor is really critical. Two times i have had to use ancors that were off at an angle. One time it was going to tip my truck over like yours if i didnt rig something else. Other time it pulled me forward and then turned me at an angle torward the ancor making new problems.
Really just trying to help by saying we should all really have a winch, extension, straps and snatch blocks for safty. I know it is expensive but after using my wich a few times i would not go back to not having one.
Like i said. Please dont take any of that as criticism or arm chair quarterbacking. I think you guys did a great job.