On my PC I can choose anchor points by using the left and right steering controls to scroll through the available trees. It won't connect to a tree that has a distance displayed in red though because it's too far away.
On mud tracks the vehicles with less power will get bogged down because they don't have the power needed to spin the tires. I'd try a different vehicle for that track. Also try to get a running start on it so you have momentum entering the pit and DON'T let off the gas for any reason.
I also pick the highest lift possible for better body clearance through mud/rocks, only on the high speed "racing" tracks will I pick a setup with a low center of gravity.
Hope it helps, this is what works for me.
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