Without cheating, I challenge anyone to guess how many miles are on my truck and how much off-roading I've done with it. If someone were local I'd even invite them to crawl underneath if they thought it would help with their answer.
The punchline is that going "off road" isn't something that hurts vehicles if you drive them reasonably, keep them clean, and do proper maintenance. I'm 100% certain there are trucks that are the same age and miles as my truck that are in much worse condition and they've never been off pavement.
People should enjoy their vehicles, not pamper them so the next owner gets a pristine vehicle that the previous owner was scared to use the way they wanted. I see/hear so many people talking about how they keep their vehicle clean, covered in the garage, never drive it because they don't want to "hurt the value" or whatever...and I just don't get it. If you're not going to USE the vehicle then why buy it? It's not art. It's not going up in value just sitting there being unused. You paid/are paying for it, use it. Letting it sit (Not that the OP would just let it sit) is worse for it than driving it.
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