It's usually tyre pressure that is the problem if they know how to use the terrain response properly. 25 or 30 is no good. You must be down around 18 or less.
If all else fails and the tyres are below 18 try rock crawl. That has got me out after I have got bogged with tyre pressures too high a few times when I'm only in sand for a quick run and am too lazy to let the tyres down. Every time I've thought I have been stuck in soft sand I've let the tyres down more and driven straight out. Never had to be snatched but I sometimes use Max Trax to help out.
As Andy said, always use low range to keep throttle input low. On steep sand hills such as Big Red or the dunes we have in WA, putting the car in third gear low range gives good power without too much throttle. If you try to kick it down a gear with the throttle you will sometimes use too much throttle and the TC may cut power.
I've rescued several D3's on beaches in WA. Every one had their tyre pressures way too high. Letting the tyres down properly has got them going and they have suddenly found that their car is great in sand. One guy told me his tyres were let down but kept getting bogged. I drove it and also got bogged so I checked the pressures. He had let them down to about 35. As soon as we got them to 18, no more worries and he could drive everywhere in the soft sand. He didn't think it would make any difference going lower than 35!
My son has rescued a few absolutely clueless D4 drivers. They drive onto a soft beach in road mode, high range, DSC on, road tyre pressures and immediately get stuck. Luckily he knows what to do, even though he drives a D1 TDI300, and gets them going again.
				
			 
			
		 
			
				
			
			
				Bob
2010 D4 3.0TDV6 SE, ediff, LLAMS, 5 x GOE wheels, LT285/60R18 BFG K02's, GOE Compressor Guard, LR Tank, Mitch Hitch, ECB Bull Bar, Kaymar Rear Bar, Traxide, Safari Snorkel.
2019 Discovery 5 SD6 SE, 20 inch wheels, 275/55R20 Nitto Grappler G2 tyres
			
			
		 
	
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