One of our beliefs is relying on your normal instinct to cope with off-road situations is generally wrong. You have to learn a new set of behaviors. We see it time & again: people instinctively grab onto or jump onto a vehicle to prevent it tipping or rolling over.
Don’t do it! This is certainly a way to be maimed, injured or even killed. You are no match for a 4- 5000 pound vehicle when it decides to crunch you. A sudden lurch can send you head over heels over the hood or under the wheels. In a split second, the vehicle can shift and pin your arm or leg against a rock. And now the situation has become even more complicated. Consider also that the driver is stressed out. All he is focused on is getting out of the situation. Even if he can see you or knows you are in contact with the vehicle, he is not thinking about your safety.
If brute manpower (& weight) is required to save the day, attach a strap to the vehicle and hang onto the end of it. Then if anything happens you are clear of the vehicle and you can let go of the strap. Remember the driver is responsible for putting himself into this predicament. You can let go if your life is in danger and still have a clear conscious.