Ok so
Taubenreuther offers this in a variety of ways.
First, it looks as though you'd need a horizontal toe eye.
Their bracket would then hold a winch horizontal as well.
The bracket goes into the tow eye.
The winch, on a mounting plate, attaches to the bracket.
It looks like you then purchase a bottom mounting plate for your Warn RT30 or RT40 (rated for 4,000lbs):
It also looks like Taubenreuther is saying that you can use this the ProVantage 4500, which is a decent sized winch easily big enough for any car, or small truck. Heck, my Trooper weighs 4,150lbs. You may no luck using such a winch to pull out a buried-to-the-axles-in-sand/mud, but again, the easiest way to extract is not to get stuck at all.
Looks cool. I may investigate further.