Just because you don’t have a rig with huge oversize tires doesn’t mean you can’t get out into the back country!
Tires in good condition with plenty of tread, not necessarily aggressive tread, are more important than a style or “off road” knobby tire. In other words, an “all season” type tire in good condition will perform just fine in moderate off road situations and still get you down the highway without the vibration and noise of an actual “off road” tire.
Because highway tires are lighter in weight and construction, they are more vulnerable to sidewall cuts on sharp rocks. Even the heaviest duty trail specific tires can experience cuts and failures so it’s also important to carry a good spare and make sure it has air in it! An air compressor,even a small cigarette lighter powered unit is not a bad idea to have on hand for “just in case.”