You may have a hard time with the project. Car starters are series wound for max power, and may not be very controllable, even with PWM. I wonder is a VSR drill wouldn't do better.
I often use hacked $15 power tools for drive motors on robots I build... The built in gear box helps... Starter motors have lots of power but aren't designed to run very long... They are high current high heat devices... Most PWM controllers would pop when you first use the starter. (back EMF).
most winches that are used to pull things (car boat) use a smaller motor with a worm gear reduction or a complex planetary gearbox.
What is the pull you need?
check banebots on the web.. they make small gear motors that are just like the guts of bigger powerdrill / screwdrivers but are generally less expensive.
JC
The only way to tell is to try....
The back EMF and of course the noise a starter makes I think would toast even the stronger esc's.... Unless you have soft start and current limiting as well as ramp down on the stopping....
The arc you get hooking up the cables to the battery from the starter isn't anything compared to the arc I got when I took the batter cable off... LOL...
scared the pooooo out of me...
A lot of guys have tried to use them in robotic combat and often tried to use a solenoid instead only to have them arc weld their contacts after a while of running....
Plus the heat.. I don't think the standard wound starter likes to run more than a few minutes at best.....
But then again I do have some nicer 300 amp speed controllers...
Hmmmmmm... do I "smell" an experiment...
But that is just my oppinion... Hopefully somebody else will chime in here....
JC