I really like having a winch. It's just so dang handy for all sorts of stuff in addition to vehicle self recovery.
One pretty easy way to add one would be a front receiver hitch and a hitch mount winch. If you want to get in as cheap as possible, the hf Badlands winch is pretty good - and if you play your cards right you can pick up a 9k lbs version for just over $200. Add another $50ish for the hitch mount, and $150 for a front receiver, plus $50 for some good quality 4guage jumper cables, and another $20 for some Anderson connectors and you can make it really easy to use. Use the gray 350amp connectors.
Drop an anderson connector plug hard wired to the battery under the front bumper. I have one on my 4runner because it's awesome, even with a hardwired winch. Want to jump a car - just plug in the cables, no need to open the hood.
That makes it the easiest to install and remove when you don't want it. And you can put it in the rear hitch and use the jumper cables to power it if necessary.
I used this setup for a long time in a 3rd gen. Worked really well. Still have it.
I did a permanent mount on a plate like a UHWM in my 5th gen because the front hitch sits pretty low. It depends on how often you'll use it. I built my own winch mount because I can built it for free. Otherwise the available options are pretty reasonable on cost compared to what a custom shop would charge. They're easy to install if you're pretty familiar with this type of thing. Expect to end up about $1200 into it for the plate, winch, and extra wiring and such to make it work nicely (assuming $500ish winch). I have a superwinch with synthetic and it's been flawless so far. Then again other than breaking the cable a few times so was my $250 harbor freight winch. The only winch I've repeatedly broken is my Warn 8274.
One other consideration is that it does put a big more weight up there. You may find you'll want some small spacers up front to compensate.
It would be easy for any welding shop to add shackle mounts to any of the plates The only tricky part is going to be cutting up your bumper to make 'em look pretty. Because you basically have a bit flat plate behind the bumper, I would drill it before installation. Then use a piece of something like 3/4" flat bar that would bolt into place protruding through the bumper cover.
Something like this should work nicely - although ideally you'd want more like 10" long due to the spacing and having a bit of extra material for longer welds or bolt them on. As an added benefit if you lay this style flat they'll be in the proper orientation - 90* to 99% of them that are set up vertically when they really should be horizontally oriented. Personally I would just use the factory tow loops. But this is an easy option to add.
Good luck with whatever you end up with!
