Going out with a local group will often provide this kind of training; whether that is recovering a stuck vehicle or a trail cleanup event (winching downed trees out of the way, etc.). You can look at
Rally Point to find or create a group event. I have learned a ton about recovery from doing group runs and got to watch/help a good friend execute his first recovery last weekend (it was awesome). I am a big fan of the YouTube offroad recovery channels and was amazed at how much of what I see on those channels sticks with me. For instance
Casey LaDelle,
TrailMater or
Matt's Offroad Recovery are good ones IMO.