Well not exactly pull! I have high centered my old jeep a couple times way back when. I couldn't afford a winch back then ugh!...shovel shovel shovel!
Everybody knew I had a jeep, of course. So I would often get calls from my friends who got stuck. I had a tow rope and yanked people out. I gave up on that after a while. One lady asked me to pull her free way back when. I clearly explained that she needed to put her foot on the break as soon as she was pulled free. She didn't. She forgot. Her car got badly dented. The jeep was just fine of course. That was one of the reasons why I switched to a winch.
My wife's car has been stuck a couple times. I don't trust her at all. So I use the winch. Leave the truck in park, And sit in her car steering while I work the remote control. Times have changed!