I have been offroad, but it depends on your definition of offroad. I've been all over National Forest roads in WA. Mostly, they don't have a lot of variation side to side. I'd say not more than a foot in most cases. It hasn't been a problem for me because I really wouldn't want my dishes etc to be tossed about. I just go slower. More commonly, it's about crossing a deep run that is perpendicular or nearly perpendicular to the road in this part of the country. Besides that, there are severely washboarded roads at times.
In WA, people get stuck on the beaches with all kinds of vehicles. I haven't been stuck yet but I've also seen Class As and Fifth wheels in the same areas. Lose sand is not your friend but packed sand isn't so bad.
Several of my uncles are farmers and most have bent their frames hauling hay on canted hills. I think you should try to avoid that unless you have one of the lightest popups like a shell of a Four Wheel Camper or similar.