I would say winch, but then again, where we mud there are no trees nearby, so a winch is useless.
It took a couple of walkouts, but I learned one of the cardinal rules of going offroad by yourself when I was about 18.
Always drive to trees.....
When I came up to a bad place, I looked for a big tree on the other side. If I saw one, I went.
If not, and I really needed to go there, I would look behind me. If there were trees there, I would try to back through.
I got myself out twice with a deadman. Cut down a tree, or find a big log.
Go out beyond where you are stuck, as far as possible for the best angle.
Dig down a trench as deep as you can and lay the log in it sideways to the truck.
Tie the cable to the middle, and trench out a trough for it to come out through.
Cover up the log, and if you did it right and the angle is not too steep, it will pull you out.
Once, I tried a small boat anchor in soft mud.
Worked great, except I had to cut my cable with an ax and hammer against my front bumper.
Dug as deep as I could, never found the anchor.
I always said I was going to go back with a backhoe and get my anchor back........
Nowadays with the plow gadget, I guess you can pull yourself out anywhere.
I carried another anchor for a long time, setup with the hookup on the wrong end with a short piece of cable lashed to the eye like you do on big boats.
If it gets stuck too deep, you move past it and pull. The lashing breaks and the anchor pulls out backwards.
But, I don't remember ever using it. I finally put on a friend's boat when he lost his.