My international truck used to have a winch mounted right behind the cab. It had about a 5' long extendable, wrecker type pole mounted to its base. It folded up to the headache rack, and then you could lay it out when you needed to winch something. I think it had a holdback for it on the headache rack and a chain. It kept the cable out of the 5thwheel and kept the winch low.
I think I've got the boom and winch still in the weeds, we removed it to mount a wet kit hyd. tank, I'll see if I can get a picture of it. It actually worked pretty slick. Old owner of the truck had set up a cable control for the clutch and a fwd/rev lever just ahead of the rear tandems so you could run the truck and winch from outside, and could see what you were doing.