Wheel assist in winch recovery is an art form. As with most anything requiring coordination, it takes practice and attention to acquire any skill at it. It also takes a significant load off the winch, rope and motor both, and I have seen any number of times when unstuck would not have happened without it.
Shocking the rope, motor and gears is one of the possibilities, but is not a certainty by any means. Winching while driving can be done safely, but one needs to be aware not to overdrive the winch rope, which generally is what leads to shock on the line.
I nearly always use drive force while recovering with a winch, but I also know from years of doing it that with my comp rig, low range first gear and 1,600rpm on the throttle set will give me a wheel speed that almost but not quite matches the winch's ability to pull me along. Any shock involved is minimal at most and even under no-load, it will not overdrive the line.