The past tense of pull someone's bacon out of the fire is pulled someone's bacon out of the fire.

The third-person singular simple present indicative form of pull someone's bacon out of the fire is pulls someone's bacon out of the fire.

The present participle of pull someone's bacon out of the fire is pulling someone's bacon out of the fire.

The past participle of pull someone's bacon out of the fire is pulled someone's bacon out of the fire.