Most people will leave the recovery point in the hitch if they are using often, but its all about personal preference.
IMO you should never leave your D rings on your recovery points, they can get stolen or fall off because the pins should never be so tight that they can not be removed by hand. This is rigging 101.
As for pulling people out of snow, CYA. It's best to be up front about not being liable for any damage and always make the owner of the vehicle hook up the tow strap to their own vehicle. You can help them find a suitable place to hookup to but let them attach.
Sent from my rooftop tent while stargazing