The quoted article is good. It does however, omit the most useful of the recovery tools - rope. Straps with loops are great IF they are the correct length. In my experience they seldom were the perfect length.
I prefer a 3/4" poly rope. This is usually rated at ~9800#. Poly usually is rated to stretch 50% before it breaks. I plow with a truck that weighs 6200# ready to go. To hook onto the vehicles I twist the rope and feed it back thru itself twice about a foot apart. I bag up the extra rope and leave it behind my vehicle. I have found that the rope is strong enough to stop my truck under full throttle and pull it back on pavement without breaking.