Seems like the area most prone to damage on any relatively stock vehicle is the rocker panels. Even with bigger tires the longer wheelbase makes them vulnerable. Removing stock running boards (if you have them) and installing a good heavy set of sliders is usually a good idea.
A winch is always nice to have but not mandatory except on some of the higher rated trails. A high lift jack is a good thing to have too.
Randy Rosetta KDØKWX TLCA #19351 69 FJ40 "Meanie" & 1970 Boss 302 Mustang