We take my girlfriend’s highlander (think lifted minivan with SUV-ish body that is based on a camry) off road pretty often. It does pretty well actually. Good enough for logging roads, snowmobile trails, the mud pit in glenville behind hannaford, and under power lines (stuff that might be a bit boring in a jeep, but is still fun for this).
The problem is usually the tires before the ground clearance or lack of articulation stops it.