The trip you have outlined is very feasible with a stock 4WD. Indeed, given that most of the main transit routes in southern Africa are tarmac, you could also do most of the trip in a 2WD.
Obviously if you want more challenging 4wding, you can also find it, but this is not necessary for most of the tourist highlights (with the possible exception of Moremi in the wet season between Nov-Mar). Most of the roads in the Serengeti & Ngorogoro crater are ok in the wet season, although there are a few smaller tracks near the Grumeti and Mara rivers that might be a little tricky in the rains.
Rather than a winch you might want to consider a high lift jack and some good snatch straps instead, as they are likely to be more useful.
South Africa has a good network of 4WD rental agencies and specialists, many of whom advertise in the back of either SA 4x4 or Getaway magazines, so try those for rental options.
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