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My experience as a hard core rock crawler helped give eye to decisions Re: your truck’s underparts. My 2001 Dodge has a skid plate on the oil pan, transmission and transfer case. But there’s not much hanging down under there except the elephant in the closet that is always a nuisance: namely the rear pig. I drive slowly over rough, rocky roads with most of my attention focused on where the wheels are to go and where the rear differential will be in another 8 feet. Many times the best route is getting a wheel right on and over some larger rocks just to get the pig out of harm’s way. I’ve spent the last 18 years trying to find the ‘edge’ on what I can and cannot do in the truck camper. The best solution is to work with what you have, keeping a radar-like image in your head about what is moving beneath the chassis, and that can only come with experience. Short wheel base rigs have an easier time in the outback for avoidance maneuvers and getting around dogleg turns without double pumping. The worst rigs for this are 90’s Fords with leaf springs in front. With long w.b.trucks the breakover angle is the crucial issue. This is where aftermarket skid plates may be the ticket. The best solution for more clearance and better obstacle avoidance underneath is taller tires. But that can have an expensive ripple effect on gear ratio selection, fender clearance and general power. Here is my solution: short wheel base; 3 inch loaded lift; 35 inch tires.
short wheel base, 3 inch lift, and 35 inch  tires
My guess is that your rig has a lot more off road survivability than rock pile at Mengel Pass Death Valleyyour current technique.

2020 Ford F-350 XLT FX4 4WD SRW SB SC 7.3L Godzilla Gas TorqShift 10R140 397 amps dual Alt dual batts Frnt Dana 60; Rr Dana M275 E-locker 4.30's 4580/4320/4066# payload 7243# curb wt. 11,300# GVWR 5-er prepped. 2020 Northstar Laredo SC, 12v compressor fridge, cassette, 320w Solar sub zero insulation.