You are overthinking it and worrying too much, air down to 10-12 psi and go anywhere you want. If I had a nickel for every two wheel drive Chevy Cavileer (sp) and countless mini vans I have watched tool around out there I have somewhere around a $1. give or take.
Take comfort in the fact you have already been there so you have an idea of what to expect. Your biggest concern should be having a tow point front and rear just in case.
Have fun and be safe!