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I saw a vid once that showed a guy setting up but not using a "wheel winch" it was pretty obvious it was not going to work.
He did not have enough bend in the rebar to insure the rope would feed between the wheel and bar, the problem is if the bar had enough bend to work it would not fit through...
You could have a missing drive shaft, a broken or "loose" half shaft, rather unlikely but possibly a bad transfer case, any number of possibilities.
But no they do not walk on water, my experience is they do well on sand, better than the average Unimog but a Unimog smokes the HMMWV bigtime in mud.
This is where it would have been real handy to actually read the operator TM, there is no NL position.
Also as stated above BTM (brake throttle modulation) may be helpful, but yes if you are in HL or L you should be pulling on both axles.
Recovery can be very expensive, going with folks that are...