A shop towel(folded 1/4" thick+) and some painters tape to hold it to the bumper will keep those painted surfaces from getting dings.
I have a clean rag (no bump) bucket with a few rolls of painters tape just for pulling hoods, front clips, trunks, bumpers, etc.
I have just pulled things without using the bucket and touched up the resulting gouges later. It is worth the extra few minutes to protect those painted surfaces.