I could not agree with this more.
If you can't go off road 5% of the time once a year with nothing but a brand new TRD Tacoma you have problems that gear will never fix.
Roger that. You own one of the most reliable trucks out there, and that is huge. Its what strikes fear in most adventurer's hearts. Will it break, and can I fix it if it does?
It really is about using your head. Your spider senses will tingle when you know you're pushing your limits of common sense. So don't. Or do, but have a plan to undo. People have been getting themselves unstuck with a bottle jack, and piece of plywood, and floor mats for decades.
A bit of first aid kit for those inevitable scrapes, bites, and burns.
Have a way to navigate. Paper maps never fail, and always get a signal, and even the most basic handheld GPS will pinpoint where you are on those maps.
The rest is just camping gear. What does it take to make you comfortable and enjoy the trip?
I always come back to the guy that overlanded in his mildly prepared Mercedes 300 TD 2wd wagon, and had adventures most of us only dream about. That will bring you back to earth, and keep you from being one of the many on this site who spend crazy cash on stuff they will never use for places that they will never go.
Go. Do. And report back.