Hello ‘TamaTheToyota’ and welcome to the forum.
If you’re going off road then you might already know that the part-time 4WD in the Hiace is actually quite reasonable but the van is no mountain goat. The running gear is basically the same as the fifth-gen Hilux (‘90s) with a rear LSD and decent low ratio but an open front diff. All this is also quite strong. Wheel travel isn’t great but you can increase clearances with a 2” lift. To do this you can wind up the front torsion bars and replace the rear shackles with linger (if the rear is leaf). If the rear is coils then longer springs will work. Anything more than 2” will need different shocks, I think. It’s all a bit of a balance.
@Merlin_ on here and FixerMerlin on YT has fitted the longer rear shackles and also a winch in the front bumber. The biggest clearance issue tends to be the rear departure.
Anyhow, to your question! I’ve not seen any recovery points on a Hiace, but I’d be interested to know what you learn, please? The Hiace was mostly a work van here but there are plenty with more modifications in your neck of the woods. An off-road specialist, especially one with a long memory back to the 90s would be my port of call. If they have no stock them they might be prepared to let you have the drawings for some to be laser cut and to specify what fasteners to use.
Good luck and do report back.