When the pics below appeared on line in another forum, they caught my interest as I also drive a Jimny.

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IIRC its made from stainless steel tube, plus stainless boat fittings..The "boom" can fold forward and lie flat over the vehicle, and again IIRC, its was supposedly strong enough to lift a decent Fallow for gralloching..

I don't recall any further details but I suppose its another solution to the lifting problem..

I never really pursued the idea of a DIY hoist as I realized I was more drawn to the idea of a "gadget" / "project" but didn't actually have any real practical need for such an item.