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My advice to you would be, hook up at either your bumper if you have faith in it (Those old ford bumpers are strong trus me!) your leaf spring, or rear axle, and hook up at his rear bumper if he has a bumper hitch or ball, if he doesn't, hook to his leaf spring or axle with a chain or rope, and pull him out of the hole opposite the direction he came in, because he's obviously already pushed a lot of the slop and mud forward in front of the truck, and it should be bare behind him. If you have the four with the crawler gear, put it in first and try driving him out nice and easy. If you don't have the crawler gear, go bumper to bumper with him, and stomp on it! Also, if your truck is an automatic, put your tranny in 1st or low, not drive, cause you'll burn up your tranny. Seen a friend of mine do it. Be careful when pulling people out though, don't work your truck to far beyond what it's capable of, pulling out or attempting to yank out something you shouldn't is a good way to shorten the life of your rig. Good luck.
Forget it. Doesn't he know Toyotas are supposed to stay on the road. Where ever you hook to , you will pull it off for sure! Seriously, trailer hitch to trailer hitch is the best way. less chance of tweeking his frame. As far as your truck, why beat up your drivetrain? I would winch it out a bit before hooking my truck up to it
Don't hook to a spring or axle if you are going to pull him out. That is a good way to tweek an axle or rip off a spring hanger. Unless you plan to come-along him out..