I've done many vehicle rollovers, and all without causing additional damage. A few key things to do:
1) place 4x4s or rocks or other chocks where the rig is going to land when it's uprighted. There's plenty or horror videos on YouTube where the rescued rig rolled away as soon as it was upright, sometimes taking the rescuing vehicle with it.
2) Get close and do a low-pull. You want as much down-angle as possible while keeping the winching rig out of the way. This allows the rolled vehicle to come back over without sliding. Most extra damaged I've was from from doing a horizontal pull, which often just drags the rolled vehicle around.
3) If its on its roof, use a "pogo stick" to elevated the winch-line above the chassis 3 or 4 feet. You want the pogo on the near side of the chassis to the winching vehicle. I used PVC pipe but 4x4s work great too. This again ensures some of the pull is translated into downforce. As a bonus, this lets you rig to the far side of the chassis, so you don't have to re-set your winchline once it's on its side.
4) Rig to hard points, ie. use chokers around the frame or cross-members or control arms.. This is not the time to use hooks through holes, since a hook ripping out could cause a worse rollover. Also rig to both ends of the rolled vehicle using 2 points, so the winch-line is stable, and it won't try to spin the vehicle.
Finally... If you don't know the victim well, don't try it. Good Samaritan laws cover medical first responders, not road recoveries. If you touch it, and it breaks, you could be on the hook for the additional damages...
2000 E450 dually V10 wagon