A standard which recovery kit should handle most situations. Just make sure it’s quality and don’t concentrate on price.
You will be hard pressed to find a prebuilt "kit" designed for a diesel HD truck and a 16,000# winch. Most are designed for 4-5000# Jeeps and 8-10k# winches. Trying to recover a truck that can weigh 10,000# loaded with most kits is a good way to hurt or kill someone and at the very least, damage a vehicle.