Offroading is all about traction, and keeping the wheels on the ground.
Go for tyres a little larger in diameter and more aggressive offroad tread.
2 inch lift to help get over the obstacles.
Lockers provide excellent traction assistance when needed.
Winch for when you get too ambitious, overexcited and forget the limits of the vehicles capabilities.
From what I read here the manual diesel is hard on clutches, purhaps the auto.
I think if the Mopar camper were available here the cost would be prohibitive.
Have a look here for some more ideas,
http://www.quadratec.com/