1580s, hall, variant spelling of Middle English halen (see hale (v.)), representing a change in pronunciation after c.1200. Spelling with -au- or -aw- is from early 17c. Related: Hauled; hauling. To haul off "pull back a little" before striking or otherwise acting is American English, 1802.
1660s, "act of hauling," from haul (v.). Meaning "something gained" is from 1776, perhaps on notion of "drawing" a profit, or of the catch from hauling fishing nets. Meaning "distance over which something must be hauled" (usually with long or short) is attested from 1873.
To launch an attack, diatribe, etc: The parson hauled off and told that bunch of jerks they were a bunch of jerks
[1870+; probably fr the action of drawing away to make more room for launching the fist, and haul suggests a nautical origin]