If you go to the "Real4x4.com" website there is a guy there with the name of David Dunn who did a nice setup like that on his Pinzgauer he called the "Pink Cow". Its pretty easy if you remove the rear pintle hitch and the spacer behind it and then add a big chunk of angle steel to mount the winch on and to protect it from spray and rocks. No loss of clearance and only a slight impact on the departure angle dpending on how you measure it.
Just remember that on a Pinzgauer the rear hitch is attached to the drivetrain and not the body - so if you need to attach it to the body also you will want to use so big rubber isolators to allow some flex to occur.