This may be a bit jaded:
But from what I can tell, any thing you do good can and will be used against you at some point in your life. There's no getting around it. So ultimately, waivers, video, etc, just places you at the scene.
Ultimately it's like picking up a hitch hiker, you never know who you will get, so you either decide you are in the helping strangers game, or out.
I don't pull out too many people, but I don't drive by and laugh either. I've been stuck, so I know what it's like to be on the ****ed end of the stick.
Things I have learned:
* Don't put yourself in danger. If there are others around, and the roads are icy, don't make a special effort. If you get in an accident, the Cops won't take pity on you because you were going to try and help someone 100ft up the road.
* Expect there not to be a tow point. A lot of newer cars don't even have a shipping hook.
* Don't expect that the owner knows anything about the hard points on their car.
These folks are more likely to really mess up their vehicles, or yours, by attaching their own points. Use straps as needed. Tell the owner, that (especially on newer cars) some amount of damage to the plastics may occur because of what you need to attach to to make the connection and give them the option of calling a tow. Once I used a pile of 1" Ratchet Straps because nothing else would fit, and cut it off afterwards (It was a neighbor, who has since bought a more sensible vehicle).
* If you are expecting gratitude as payment, forget it. Some folks will even offer to pay, but a large number probably won't even say "Thanks".
So maybe your best option, even though you have all this fancy equipment, is to check on the Occupants to make sure they are OK, then call 911. It expresses your concern, and gets help on it's way.