When the engine stalls, definitely there is the most load, but it's not to be implied that any less weight does not add stress or wear.
Basically pulling more weight will add wear.
You need to look at the drivetrain to predict what load you can add, how much wear surface is on the gears? what do the bearings look like? Is the motor mount such that the gear mesh does not vary/flex under load?
Without engineering analysis, you have to kind of look at how beefy the drivetrain is and how much more torque it can handle.
Definitely it's better to slip the wheels than actually stall the motor, but there is no get out of jail free card here, you NEVER get something for nothing with physics, pull more load, get more wear, draw more current.
Greg