You can winch out of most spots. Or just tip it completely over while winching
Go to the advance mode and some dots appear on your truck, click one and dots on nearby trees appear, click one of those and then press F to winch.
When your winch is connected, you can leave the advanced mode again too and help the winch with steering/driving.
Or push yourself with the crane if you got one. That's most fun tbh.
And use a gamepad. Steering the crane with gamepad is just awesome