One of these or similar, available at harbor freight tools, some ratchet straps and a helper is how I would do it.
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Yeah, even the Truck shop used a lift like that and 3 guys (the winch added weight and complexity). I kind of agreed that if I wanted a winch in the near future, I might as well just spend that extra dough it would have cost to pull the bumper off again to install a winch on a winch and get it all done at the same time.
My bill wasn't detailed. It was one price for all the work I had done. Total labor was 12.5 hours for everything.
They originally quoted me 3-4 hours labor on the Bumper over the phone but I also brought them all the parts to set it up for flat towing behind my Coach.
In addition to the bumper, they installed an SRI braking system, welded safety cable brackets to the frame, drilled the bumper to install the breakaway brake, and then wired all the lights. They also installed and wired up 3 LED light switches between the USB & lighter outlet for my rock lights, spotlights, and light bar.
My guess is the bumper was closer to 3 hours since everything was only 12.5 hours and wiring is a PITA. Labor rates around here are $85 - $120 an hour depending on the shop. ORW was at the higher end while the truck shop was the mid-low range.