Difficult off-road situations require many odd techniques regardless of the vehicle you choose to ply the trails with. You are not going to be able to just hop in and drive up and down 4ft off camber drop offs and slick stair steps. These things require slow speeds, nerves of steel and a little horsing around to get through. Many of the trails I have done have copious rubber applied to the rocks from wheelspin. Many have large puddles of oil on them from punctured mechanical bits. Many of the obstacles on my last trip had broken u-joint parts scattered about. Broken axles and rollovers are listed in the trailbooks as "not uncommon". If you are reffering to any of my posts or descriptions of trails and techniques, you would be well advised to take someone who has done this before. I have been doing this for over 10 years. I have done a lot of trails all over the country. I have led in-experienced groups up trails they could not have conquered without some instruction. This is not mean to be a brag session. I am trying to illustrate that much of what I have discussed here in terms of trails is very serious stuff. There are thousands of miles of trails out there where NONE of these techniques are needed. That is where you learn. Take it easy, learn the vehicle. Do not go out to Moab as a first timer and try a 4+ rated trail. You WILL trash your truck and you could very likely seriously injure yourself. Those are the trails that require some different techniques and skills.
If you decide to purchase a G for off-roading, hook up with a group of 4-wheelers and see what they do. If you can swing it, join a group of G's. We have a great time

There are quite a few experienced off-roaders in the clique that have moved up into G's and have decades of combined experience. You will soon see the need for such antics, regardless of your chosen mount. The G's capabilities are no myth. In fact it is easier to drive and more comfortable than anything else out there, for trail running. It just so happens that you have stumbled into a group that really takes these trucks to their limits.