I used a different model, more heavy-duty, and a HFT electric winch, both rated at 2,000 lbs to serve as a shop hoist.
https://www.garagejournal.com/forum/showthread.php?t=348003&highlight=hft+winch
I took the hoist to my machinist and had him add a tapered roller bearing to the vertical pivoting shaft and foot. This removed a great deal of 'slop,' and made me feel much-more secure about using it in the fashion I ended-up with in my shop. I have a friend who is a P.E., and I had him help me in the design phase of the lift and its mounting. I gave him my tentative plan, and he made me some suggestions which I incorporated into the design. I'll never be lifting anything remotely-close to the limits of the hoist or the winch. You could do the same design in a truck, but you would need to give yourself space for the winch mount, when it swings. Another advantage would be that you can remove the upper boom/winch as a unit, leaving the lower pipe mount, and just put a cap over it, when you don't need it. Of course, you would need to install a 12 V DC winch in place of the 120 V AC winch my shop hoist uses.
There is a design for a hoist that folds-into its own bumper, for full-size trucks. Not cheap, but handy, if you need to lift heavy things on occasion.