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I haven't found a foolproof way to grass-proof my Pulio, but what I've got is some stiff dampers and springs in the rear with a locked diff and the trick is less throttle. Let the tires try to hook up.
If you're trying to reverse up a hill, you're screwed, if you're trying to drive up a hill at a stand still, you're screwed. You need a run-up. Try to use the winch instead of hooking up to the stranded vehicles to drag them to a flat area, or the road instead (may require kinetics, don't be afraid to yank) and then hook up. I suppose if you're daring for bigger stuff like buses you can disable the handbrake in the bus before pulling.
I don't have much unlocked so haven't been able to try much but test my own patience in the grass in a Dory with a huge trailer.
Get a 4Wheeler and a winch, you can now easily drive out to cars and manipulate them a bit. I wouldn't try to get them out uphill, but downhill with a jeep that doesn't have all difflocks purchased yet, I was able to pull a Vortex and Paulo (Tow truck) down the hill onto the airport runway and further manipulate them onto a trailer. The Jeep handled the vortex easily, but the Paulo had predictable results of trying to tow a multi-tonne vehicle with a 1940's jeep haha.
But if you're clever and don't give up you can make it work with some effort, it proves the concept though. I'd guess a Ranchy with a car trailer and winch could probably handle most rescues by itself.
As for the tuning part, what it did to help some was to increase a bit the height of the wheels (I am doing fine with +4cm, for not hitting a lot the ground when bumping), adding suspension springs, a minimum of 200% if you dont have a lot of cash, suspension dampers as well, something in the middle or a bit higher helps some to drive when you bumping a lot, a better coolant radiator does help a lot, and added antiroll bars just for caution, not sure if really necessary but I didnt want to risk flipping a lot, hope these tips help, the rest is some patience and skill, even with all these tunes, it will be hard to drive on grass on some areas that have a lot of hills, and never try doing these jobs when raining, you will end up sliding on the grass no matter what.
4x4 cars offroad pretty easily but at least in multiplayer the physics around the cable and pulling things tends to be odd. Even if you flip a car, fix the tire and turn off the e-brake they tend not to want to roll very far even if you give it a good yank. So you end up with a comical image of a man jerking the leash of a stubborn dog, pulling the car a few meters every attempt before it decides it doesn't want to move again.
Might be easier with a tow-strap or rear mounted winch, but it seems the weight of cars is weird. Trying to pull a Panther (IIRC, the miata looking car) with a Hana, the panther kept stopping.
I think it's a matter of how the offroad tire simulation works. It's not a lack of traction but applying a slow-down effect. Maybe supposed to simulate mud, which would be sensible and would just need a graphical indicator that we're stuck/bogging down in mud.