I've used rope in Winches and stretch ropes for yanking for years. They've got their place. And in it, I love 'em. Out of it, I'm not so amorous about 'em.
As Gary said, you gotta be very careful when using winch rope. I run a 6-8ft sleeve over my Jeep ropes. Move the sleeve to where the chafing risk is, and then be constantly aware of any other hazards. Also, you might Google "rigging ropes". I have a 30ftx3/4" rigging rope that is completely covered with a very durable sleeve. No stretch. Easy to handle. Pretty well protected, although I've cut the sleeve in a couple spots over the years. Loops on each end.
Stretch ropes require the same caution in regards to chafing or cutting. Additionally they have a very high recoil risk. I could tell stories that are hard to believe of the danger of stretch rope. Always identify which rope you are using and caution everyone else involved in the use. Never include a chain in the mix, it will become a destructive projectile if/when things go bad. If you use clevis' make sure they are the screw in pin type and that they are rated well above the rope in use. Never connect two ropes together with a clevis. It also becomes a projectile.
All types of ropes are to be highly respected and used with caution and careful deliberation.