In my experience a winch is necessary but not always sufficient. There are many places where to appropriately use a winch you just have to have a pull-pal along as well. I've had a number of self recoveries that just plain would not have happened with winch alone.
I was thinking a pull pal was another name for a come along, now I know the difference. My Jeep is pretty capable. When I see something in think might cause a problem I usually a avoid it, if I am alone. There are surprises but places go there are multiple anchor points. I do carry a hi lift, pulley, shackles, chain and a strap.
If I am setting out to look for terrain that is that rough are deep in it don't go alone.
If I lived in an area where anchor points weren't as abundant as where I am or I traveled deeper in alone in would get a pull pal.