Sand you have to shovel until the wheel(s) settle and rocks you have to pile under the wheels until you can pull yourself off.
Same things with variations for logs, rutted dirt, snow, etc. You either pile crap under the tires until they grab or you shovel crap out until the wheels gain grip.
Sometimes you barely move before you have to repeat the shovel or pile thing.
Back in the day you'd just use a jack-all, get the vehicle up as high as you could and push it off, re[peat until you were able to drive away. Nothing for a jack-all to grab onto in today's units....even the Wrangler has plastic bumpers.
If you had tow hooks in front and either a hitch or sub frame mounted hood in the rear you might be able to use a jack-all to lift the vehicle...I don't know, haven't ever tried that.
I'll tell you tho, back in the day, before I could afford a winch my jack-all saved my bacon on many occasions. I drove a CJ7 and was not afraid to put it into spots, if you know what I mean.