100%. Better tires will make a huge difference and a skid plate is cheap insurance.
Biggest tip is to go with other people. Have recovery gear and a means of communication if you aren’t 100% certain the area has cell coverage.
Ya’ll need to define what the heck you mean when you say “off road”.
Do you mean “off of paved roads” but on Forest Service type dirt/gravel roads, or do you mean running the Fordyce Trail route?
If you drive it wrong enough anything can go off-road 
I’ve been wondering this as well with mine since this post is on topic. I have. ‘19 TRD off road with rear lockers, 2wd with AT tires. What would the capabilities of mine be?
Thank y’all who commented. Advice taken.
Anything can go off road once 
Could a duck quack? Hell yeah man, get some mud on dem tires!
Yeah
@Pip
But my wheels are street wheels tho
Kiran said:
@Pip
But my wheels are street wheels tho
I took mine on one of the toughest trails in my area along either one of my buddies. Had Michelin defender LTXs on (street tires) at stock height and got through the whole thing just fine (with some very sketch spots if I’m being honest). Only other vehicles I saw were the lifted jeeps with huge all terrains on and a few FJs. These trucks will take you much further than you’re comfortable
You’d be fine as is on gravel and dirt roads. If you want to get into basic trails better tires would be good! (I’d shy away from M/Ts though and go for a more all around tire)
I’ve taken my stock SR on a lot of stuff. I do have AT tires though
Bro send it!
Send it! Lots of good advice here. However, I came here to say my first taco was a bone stock first gen. I was young and dumb and would take it on quad trails and some serious grades. Never rock crawled with it, but it tackled everything I threw at it! Once, a buddy of mine was stuck cab deep in a puddle with his jimmy, and i was due for new tires, I mean, they were racing slicks. 4wheel low pulled him right out, no problem. Common sense goes a long way, and recovery gear is great even if it’s just a tow strap, and a friend with another 4x4 will get you out of most situations. If you want to start rock crawling, then you’re gonna need a lift, sliders, and a winch for sure.
Yes it can. Big time
Oh yeah I’ve taken my SR all sorts of plsces. Sand. Mud. Snow. Rocks. Haven’t had any issues yet. I’m still on stock Firestone street tires too.
My truck is stock and I have no problems with dirt roads/logging roads, only branches scratching the sides but that gives character. The only time I need 4wd is in deep snow, but I don’t think you have snow based on your picture.
If you go alone don’t try something that could get you stuck, if you do, bring a friend with a truck and a kinetic rope.
If you take off the front air dam
It’ll do what you want, within reason. Seriously the biggest factor for you (and all at some point) is inexperience, or the classic, “Should I or shouldn’t I? I should! whut oh…”.
has 4 wheels, why the heck not