I've pulled many a truck out with a come-along. They take a longer but do the job but work and are much less weight to carry around than a winch.
That's not to say that you will always have an easy time of it. For some idiotic reason I once thought I'd like to drive my 2WD truck across a dry riverbed of deep sand, only to get stuck in the middle. Fortunately, I had a 200 ft climbing rope with me that would just reach a cottonwood on the other bank. I spent the next six hours hand-cranking my truck across that river.
A few years later I ran across a family in a motor home who had done the same thing. I had a hi-lift with me then too -- it helped but we still spent the rest of the day cranking that motor home across the river.
I prefer electric or PTO winches though but these won't get you out of everything. When I was a kid we were out hunting when my grandpa slid his jeep off into a deep muddy ditch. We hooked the winch to a telephone pole... and started to pull down the telephone pole. A guy in a gas truck then came by so we hooked onto him... and pulled him into the ditch. My dad then hiked to a friend's farm and came back with a front-loader tractor to pull both trucks out of the ditch and straightened up the telephone pole.
In the Army, I once snapped a cable trying to winch one of these:
out of a river with one of these: