As with many other things, common sense applies. If you do what you describe, then, no, this is not likely to cause damage or danger.
The winch is, however, an ''integrated system'' that is designed to work within its load limits, torque limited by the shear pin in the PTO shaft.
Applying force to the winch cable by moving the truck allows you to exceed the load limits. I understand that the way the worm gear works makes it highly unlikely to be able to move the winch drum by applying force on the cable, with the winch clutch engaged. It is a very safe setup that way.
But, for example if you were to pull in low range reverse, with 6x6 engaged, on asphalt, with 5t of gravel in the bed, I am sure that the force you apply to the winch cable, the winch and its mounts can exceed the force they are designed for.
Another favourite is to yank on the cable (i.e. having slack in the cable and then building momentum with the truck until the cable is pulled tight very suddenly).
I have the utmost respect for the power contained in a winch cable, shackle or chain assembly under load.