Assuming that you can get the truck near (50-100 feet?) the hog, here's what I have done:

Drag the hog to a large tree. Hang a pulley from a large tree branch. Tie two ropes to the hog's feet. Put one thru the pulley, throw the other over the tree branch. Tie the one that goes thru the pulley to the truck, and drive away until the hog is sufficiently up in the air. Use the second rope (the one going over the tree branch, to secure the hog in position. Back the truck up until it's under the hog. Using the rope over the tree branch, lower the hog into the truck.

If it's not too far to where you want to gut it, just drag it the whole way.

If the hog ends up too far away in territory where you can't tie it to the truck to drag, that's a problem. On one occasion I found myself in that situation and I simply brought my ice chest to the hog, skinned it on the ground, and cut off the leg quarters and backstraps. By the time I'd done that much, I was pretty worn out and decided I didn't want to gut it and take the tenderloins. The coyotes ate a little better than usual that night.