Most winches, regardless of the drive type, will have a free wheel mode, if you need it. However, there is no reason a hydraulic winch HAS to freewheel out. If your running a solenoid valve to control the flow, all you have to do is use a double acting valve to allow reversal of the motor.
If you plan to do a lot of high duty cycle work, then a hydraulic will definitely be your best bet as many can run off a simple power steering pump. I would imagine on a fire truck you'd be able to drive off a PTO pump a lot easier.
That said, a worm gear winch is typically going to put less stress on the motor than a planetary type. I've got an 8000 lb, worm gear drive, Warn on my old Jeep J10. I've used it long and hard without ever having any problems. Once I used it to get am 806 International, with a full bailer, unstuck. I got the combination moved enough to unhook the bailer, and then got the tractor out. From there I shifted position, tied the rear bumper to a tree, and drug the bailer nearly 100 yards uphill. All of this happened over about a 2-3 hour time span. The winch is still going strong.
On the hydraulic side, take a look at the link below. Braden, now apparently Paccar, has been making hydraulic winches for a long time. Something like the AU8, which has a free wheel capability, would be the type you probably need. They can also be set up with a long shaft off one end to allow it's use, with ropes, as a capstan if you need that capability.
That all said, if I was going to choose a winch for the type use ya'll need it for, I'd go with a worm drive, regardless of the drive. I say this because a worm drive, by design, is typically going to be self locking. In other words, the cut of the gear teeth work together in such a way that it doesn't need a brake to keep it from freewheeling when in gear, unlike a planetary style winch will always need a brake.
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