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I use 5th gear at an idle. Has done the job for all the jobs that i've ever done. Plus saves fuel. I see the power dievider is on the bed you'll need some way to ingage, disengage it. That is where you get the control to the crane or the rear winch. Let us know how thins work out. Good luck.
You can also use an other chain and put hook on each side of the hook. That way you can find the balance point . Was thought that by and old sargent at recovery school .