The little removable panel in some car bumpers covers a threaded connection for an eyelet. It allows a functional attachment point to sit behind a smooth exterior rather than protrude permanently from the vehicle.
Its presence does not mean every car can safely be pulled from that point. Manufacturer instructions differ. Mazda's CX-90 manual describes tiedown eyelets for securing the vehicle during shipping and warns against using them to tow it. Other Mazda manuals describe emergency towing eyelets with their own restrictions.
The important answer is therefore not simply 'attach a rope here.' Check the manual for the exact model and year, and let a qualified recovery operator determine the appropriate method. The same-looking access cover can hide equipment with different permitted uses. Understanding that distinction is more useful than treating a small panel as a universal towing solution.
Sources: Mazda CX-90: Using the Towing Hooks Mazda CX-3: Emergency Towing