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That looked slightly tense situation. How to tackle ?

first : no helping cars should stop up unattended , even with hand brake up to max and on P ; the gravity momentum is big and risk of the unattended any car to roll is probable . Instead we climbed on foot with shovels to help it out.

second the bogged y62 no driver nor passenger allowed to move out and stay calm with reassurance 

Third : sand wall clearance from the rear right only leaving the remaining sand as a fulcrum where about the rotate and slide in reverse in same time gently .

Plan A :  with instructions step by step came down safely with God Grace 🙏
 

in case didn’t work . Plan B : connect all our ropes together ( this is the reason I asked in the intro the more ropes you have the better 😄) . To the rare recovery point . And one stabilising rope from above ( this would have been real challenge to get to the other side and find the best position 😅) . Then with synchronised action should come .