Pardon the thread necromancy. At 48 seconds into this video from the ARB YouTube channel shows the use of only a hitch pin to attach the recovery strap.
https://www.youtube.com/watch?v=-Ire31FrEAI
If there is concern with center-loading the pin why not use a simple cylindrical insert inside the loop of the tow strap? If the edge of the hitch opening is sharp or rough why not smooth it with a file?