I've done a few miscellaneous off road type activities in my RAV. Including driving on a very soft sandy beach and a few weeks ago I went up a local mountain and decided to see where a few logging roads led to.
I did find one place that was exceptionally tricky... It was actually a downhill ski-run with a pretty steep incline and loose mud and rocks for the tires to contact. there wasn't really a 'road' per se to drive on but I went anyways. The RAV did great just took it easy and was very careful.
Shortly after that, I found another logging road which kept going to a point where you could tell it was not used anymore for a long time. Many large rocks and a number of obstacles to get around but we did just fine despite hitting some very steep stuff and a number of places where the road had been washed away to leave a 'ditch' to cross. Only one place gave a slight scratch on the front bumper.
As for serious mudding and whatnot... i LOVE mud and so far i haven't gotten my RAV into anything I can't get it back out of... I have had to use the 4x4 lock a number of times though as it gives a much more solid feel to how it handles whatever I'm into.
Don't know if any of this helps you, but I'll just say, I love taking it off road and seems to handle most of everything I throw at it very well. On the flip side, though, I would be much more aggressive with a 4rnr or FJ cruiser.
I only tackle stuff that 'cars' wouldn't handle because of low ground clearance and lack of 4x4 capabilities. After all, thats what this little trucklet is, a car with more ground clearance and 4wd
All the best