Going off-pavement is hard on an RV. I've been driving small 4x4 Class C's since 1991. About 150K miles so far, first one on a Toyota mini-truck chassis and the Tiger on a stock 2500 HD 4x4 chassis. At one time or another, in spite of slow speeds and careful packing, I've had every cupboard and the refrigerator eject its contents at one time or another, plus had everything fall off the cabover bed. Checking to see that cupboards and the awning are still securely attached is a regular part of trip prep. Note that I wasn't even trying to do Jeepy sorts of things when these ejections happened.
30 MPH on rough road? Hah! More like 5 PMH. I'd love to never have to drive on washboard again.
When choosing an off-pavement vehicle, consider its size and weight. My Tiger is under 9.5 feet tall, 87 inches wide, 20 feet long, regular cab Chevy so shortish wheelbase. Sometimes it can barely squeeze through or under the trees and brush along the roads, and it has the scratches to prove it. I ordered my Tiger with minimal stuff on the roof (no railing, no AC, no antennas) because of this. Still, I've had the various vent caps attacked by vegetation.
The fantasy is that you can go anywhere, do whatever you want. Give yourself a VERY serious reality check before you try this.
I find high clearance to be much more of a necessity than 4WD, although I do use the 4WD on nearly every trip for at least a short stretch. I even used it a few weeks ago to drive the Tiger up onto a welder's rack for some tailpipe repairs. It didn't want to go up the slippery metal ramp, but 4WD took it over the bump and up with ease.
OP is east coast (West Virginia) and I am sure that off-pavement there is probably different. I'm west coast and the Sierra Nevada range and deserts.