I have been waiting for my opportunity to do that. I keep chains for all 4 wheels in the truck during winter. A couple of years ago I did see a SD tow truck helping a semi up the hill into Truckee.
I had the chance of pulling an empty water truck out of the mud once. The truck's passenger side drivers were in a little hole out of which the tires could not grab enough to get them out of it. This was a day cab with a tanker trailer - empty.
I didn't want to break anything on my 03 though. What's the most you guys have pulled out of a ditch? weightwise.
I have pulled a 16,000lb 4wd forklift out of 3ft of mud with my superduty. Mind you I did use a 'snap' strap to yank it out. My truck didn't even seem to break a sweat!