Both are good brands, but of the two I'd get a Warn because parts for rebuilding are easy to find.
First, find out how much pull you need. Take the gross vehicle weight rating (GVWR) and multiply it by 1.5. The Commander GVWR is right around 6200. Multiplied by 1.5 you get 9300 lbs. That's your minimum pull capacity. Only consider winches that can handle that capacity.
Moving on to winch line. Cable or synthetic? Depends on your environment. Mostly mud or dirt, either would do, but you could get away with using the lighter synthetic which is also safer in the event it snaps during a pull. I live in the desert and wheel in the mountains. Synthetic may abrade on the rocks, so I would need to be very careful.
Hitch or bumper? Commanders have plenty of internal space. I'd go for a hitch mount and store it in the garage when not in use. You may want to mount it to your bumper. I live in Vegas where people steal anything, so I tend to hide things.
From there, you can start looking into options. That should get you started though. Hope that helps.
Mine fits in a storage compartment where the third row seat used to be. I have front and rear receivers and an extension cord for using it on the rear. Having the winch hidden paid off when even a Jeep dealer that bought it fraudulently from my Ex did not now it was there. Otherwise it would have disappeared.
2007 Jeep Green Limited 4.7 Flex Fuel, RR 2.5" 4 inch Superlift coils on rear, 1.5" Spacers, Bridgestone 265/70/17, K&N CAI, Flowmaster, Diamond Plate Locking Trunk, Blue Ox Baseplate w/D-rings, "Get Lost 4X4" Front Bumper, T-Max 9000 winch, "Get Lost rear tire carrier, 30 gal second gas tank.
Second 2007 Jeep Green Limited Leather HEMI QDII VES Uconnect Flowmaster OEM Skids Tow Package
Maybe the two will meet up soon edit: they did , I now have 2,now gave 1 away
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