Yep! and I have been with stock and modified Samurais that also did much of Moab (level 4 trails) although not without much stalling, smoking clutches, many retries and one flop...
Fun is where you find it and everyone starts somewhere...
My wife and I have been driving our stock 1995 Toyota T100 through Mexico and Central America for the past 14 months. We've pushed the truck's abilities and our own pretty hard a few times, but it has proven a suitable vehicle for anything your likely to encounter as long as your goal is to make it to the other side, not attack the most challenging line you can find.
We've been making videos of our travels. Check it out if you want to see where you could go in a stock truck loaded down with camping gear.:sombrero: http://www.youtube.com/watch?v=Y3eDm20IICQ&t=27s