In skimming over this thread, I realized that I neglected to mention and show one of the most critical mods I've made to the CR-V!
Namely, two 10,000lb rated recovery hooks bolted into the rear "frame rails" of the unibody:
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These are bolted into the holes where a hitch receiver would be mounted. If I ever need recovery or need to tow or snatch someone, I use a bridle linked between them to attach the strap. This is to spread the load between the two points instead of relying on only one. The white goop is sealant i added to ensure it didn't rust. I also sprayed the holes with paint, as I had to widen them slightly to fit the bolts.
If you have a hitch receiver, you just need to get a shackle mount to insert into it. Never recover off a tow ball! In my opinion, a 2" hitch receiver would be preferable to what I have here, however once again the budget intervened. These were like $15 at princess auto for the pair, while the hitch receiver was a couple hundred at least.
I have used these recovery points before, and they have held up just fine, but as I mentioned, if you have the cash, the 2" hitch receiver with a shackle mount is a better option for ultility, and is probably marginally better overall, as it spreads between three points, since it bolts into the tiedown point in the middle under the tub.