This is the second of a three-part report. Also see the first and third parts.
When all you own is a hammer, the saying goes, all the world looks like a nail. The corollary to this is that when all you drive is a Jeep, everything looks like something to drive over. and I'm not kidding here—I've had to resist the urge to roll over errant rocks and curbs on multiple occasions.
And it isn't even because the Jeep Wrangler has poor road manners—as I detailed in my last article, it doesn't. It's still a big and clunky open-top utility vehicle with crap aerodynamics and a tendency to wander at speed, but despite these flaws it's actually a good deal more roadworthy than many front-wheel-drive passenger cars. Safer, no—but definitely more driveable.
But I promised to get to the "fun" part of the Jeep after that first article, so here we go.
With the windows off and the transfer case locked into 4WD, the Jeep can be driven from pavement to rocky and muddy roads with practically no indication that the ground underfoot (undertire?) has gotten substantially more challenging. Even with standard-issue rental car tires, gri premains superb in deep troughs of runny soil, and across slick boulders. Dirt roads with gaping potholes aren't intimidating enough to make even reasonable drivers feel like they should slow down—the big brakes (discs at all corners) arrest oodles of speed and even if you did drop a tire into one of these holes, the sturdy axle and frame would pop right out without any of the shudder or drama you would expect from most other vehicles—even most SUVs.
And I think that confidence—the sturdiness of the vehicle and its ability to traverse treacherous terrain without shaking, clunking, or thudding—is what really sets the Jeep apart. There is ample power, control, grip, stability, and durability to make any driver feel at home on practically any surface.
The surface I tried all this out on was the road past Opeaka'a waterfall, which turns into a rutted dirt path and finally a rocky mess of enormous potholes and muddy tracks. I made it about 4 miles in before turning around due to time—and even then I made it further than I would have in any other car since I was able to push the Jeep so hard on the trail. Tremendous road, great fun, and well within the capabilities of this vehicle.

"...everything looks like something to drive over..."
I know that so very well.
For future off-roading you may do, a tip:
Keep the transfer case in 2H until you are stuck/nearly stuck, then put it in 4H just long enough to get unstuck. If you get really stuck while in 4H, it's time to try 4L. If you're still stuck, hopefully you have a winch and/or friends and the appropriate recovery gear.
There are exceptions to this, but it's really useful for at least 95% of most trails.
I drove a 4Runner for a few years in Los Alamos. What you recommend works fine in areas where the ground is pretty sturdy, but places like Hawaii require more time in 4H because momentum is so important. If you get stuck in 2H in fine sand, it's all over. Not even 4L will save you then.
--D