My 31' Class C got stuck in the mud while sitting in storage a few years ago. I called a local tow truck. They came, had a long cable and winch and were able to get me out in very little time. Didn't cost too much. I believe they were able to pull from my hitch. Had I been parked the opposite way I'm not sure what they would have connected to. As posted above, you'd want them to be careful not to pull on the wrong thing so as to do damage.
After my RV got stuck in the mud in the storage place (which is basically just a field), I had 18 cubic yards of base rock dropped off (~$500) and I rented a small tractor loader (~$150) to spread it to make 3 parking pads for my RVs to sit on. Now I don't need to worry about getting stuck as it is hard as a rock.
I haven't heard them mentioned here, but AAA Roadside assistance (Premiere/Premium covers RVs) is also an option. I have AAA. Have used them a couple times for other vehicles (truck and boat once) and have been pleased. I haven't needed them on my RVs yet.
Good luck!
Chris