Rather than a telescopic hook, has anyone ever tried a forward facing pantograph rather than a straight hook and bar?
A two -section pantograph, with a short rear facing upper arm, single rear-facing joint, and a longer lower section facing forward could put the hook in front of the wheels.
There would be some pretty extreme forces on the joint between the two arms as it was allowed to straighten out after capture, but it would put the hook in a better place.