It’s easier to calculate the force than the energy.
One way would be to measure the acceleration (a) of the pulled vehicle, and knowing it’s mass (m), the force (F) applied was F= m x a. This assumes pulling vehicle came to a stop at maximum stretch. Trying to figure how much moving pull vehicle contributes on top of rope’s stored energy makes calculation more complicated.
Another way would be to consider the rope like a spring, and find its spring constant (k). This is a measure of how resistant it is to being stretched. And measure how much it got stretched during the pull. Assuming (k) is the same whether it’s stretched 1 foot or 8 feet, the force (F) required to stretch it “X” feet is: F= k times X. That’s the force it has at a particular stretched distance. The energy (E) over the length of the spring as it snaps back (various distances), involves integration (complicated math), but boils down to E=1/2 kX^2 .
Again, it’s easy to calculate stored energy contribution, but not moving energy contribution of the pull vehicle.
However, if we know how much the pulled vehicle accelerates beyond what the “spring” can contribute, the pulling vehicle must of contributed this.
.....of course, this assumes pulled vehicle was in neutral and contributed none.
In conclusion: Just floor it and let ‘er rip.