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Are you using the winch or the tow hook meant for towing?
Is the car you are towing "shiny side up" or down?
Have you raised the tow bar too high up so that the tail of the towed car is grinding on the ground?
Second item, and I know you're being asked this a second time - winch hook or tow bar?
Without meaning to talk-down to you - I'll illustrate this way --
(let's ignore recoveries, the cars on their sides/upside down for this example)
when pulling up to a car on the side of the road, usually the winch (hook) isn't needed, the tow bar gets lowered (rotated down) into position somewhere near the bumper using the controls and you select 'hook' to connect the car (a yellow bracket appears under the car). the tow bar is then raised to get the front wheel (with some exceptions) of the car off the ground and you're on your way. This is where you can grind cars that don't have enough ground clearance.
Third item - and I've been guilty of this myself. Some people (ahem, myself, when I didn't know better) use the winch to raise the car, then put the tow bar under it, hook that, and then leave the winch hook connected, which as the car shifts about while being towed can damage it. I'm unsure if this makes a grinding noise - it might.
With recoveries, then the winch is needed to flip the car back onto its wheels using varying techniques, then that hook is removed and replaced by the tow bar to take the car away.
If this doesn't help, next time you encounter the issue, it might help us give you better advice if you're able to take and post a screenshot looking sideways with both the tow truck and car in frame.
there is a control panel on the side of the truck. on the dory wrecker its 2 levers that stick up. you click that and then it gives you the option to lower the tow bar. lower it, back up to the car, hook, then raise if you can enough that the wheels are off the ground, then go. all the tow trucks have some kind of tow bar and control panel.
another possibility is you are lifting it to high in the air and the back end is dragging on road.. but I think its the first one.
I usually lift it just enough to let the front (lifted) tires barely clear the ground.
Hopefully at some point they'll add dollies to let you pick up the other end of the vehicle.