With aired down tires,one tip I learned is to back into where you want to park above the high tide line.
Then before you leave dig out about 6 feet in front of the tires (front & rear) only down a couple of inches. Creating a ramp so you can get on top of the sand instead of dig in. Don't be shy with the throttle when you take off but try not to spin the tires. Do not turn the steering wheel head straight to the hard pack and then make a shallow turn. Your goal is to get as much speed while staying on top of the sand in the soft stuff.