Background
There are many examples from humans pulling heavy vehicles, ranging from trucks to airliners. When researching the physics behind this, most results pointed to the reduced rolling resistance when the vehicles are on wheels. Because the normal force of the vehicle is multiplied with the rolling coefficient, which is about 0.02 for tires on asphalt, the force in the horizontal direction opposite to the direction of travel greatly reduces. However, I am confused about how this compares with the concept of static friction. My current interpretation is that the rolling resistance only applies when the vehicle is already moving, and that one has to overcome static friction to get from stationary to moving? And the static friction has a coefficient much closer to one so would that initial force to overcome the static friction be much higher?
Problem formulation
So, let's assume there is a vehicle of mass $m$ on rubber wheels, standing stationary on asphalt. A rope is attached to the vehicle in the direction of moving/the wheels. Neglecting friction in the internal car systems, how does one compute the force required by a human pulling on the rope to get the car moving? Is the required pulling force equal to the static friction, i.e. $F_{pull}=\mu mg$? After which the force required to keep the vehicle moving at constant speed is equal to the rolling resistance $F=cmg$? Also, is there some common value for the 'pulling strength' of a human to compute how many it would take to get a vehicle moving?