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I still like your concept drawing in the first post, looks like it should as a military truck should, I would stay away from the home-made look like the 5t, still think a holmes 500 or so twin boom would would look like factory
With the twin boom, you swing one OPPOSITE the pull to act as a counter weight while you swing and pull with the orther
The side outriggers are slide out and down to provide a outrigger type of foot., NOTE you can make these as long as needed
Now the trick setup would be a TWIN BOOM/...
Depends on the lift, there is a LOT of weight on the w/w front end, will work a lot better then most small 4x4 wreckers, a holmes twin boom 550 would just about be right