While I have a Lexus Land Cruiser, I almost always go camping in my 2 wheel drive Pleasureway Traverse van. My solution is don't go down roads that are too iffy with no easy way to turn around. I do carry a shovel, 12v Viair compressor, and the same things I would carry otherwise. The van is a shelter with propane, water, heat, a/c (if I bring a generator which I don't), etc.
I would guess less than 25% here do actual overlanding as opposed to camping off gravel and dirt roads and, more often than not, campgrounds.
The best thing you need for going offroad is common sense and the wisdom to know when not to move forward.