Along with the comments made here, their are some things that need to be looked at when considering off road capability which one should put on a list.
In no particular order:
1. SUV's capable of off road/rough terrain driving have at least, some under body protection with a beefier frame and skid plates to protect vitals. Look underneath the SUV for evidence. Full frame would be desirable in my book.
2. Off road accessories/mods. Are they available for the SUV you're looking at. This one thing should send up a red flag if nothing is offered in this regard.
3. Tires. Look up what's optional for the SUV you're looking at. Example: A cursory look at the available tires for the new Explorer has no option for an off road tire. All season/performance
road tires only.
You only need answer one of these three questions to find out the capability of the SUV you're looking at. Some other questions can be added to these but, essentially, if the answer to any of these three questions is negative, look at something else.
The OP made an inquiry with the kind of essentials needed for the SUV he's looking for so, this entire thread can be considered question number 4.
When I made my decision for buying my EX, off roading was limited to the light side of this condition. I needed it to haul all my different hobby gear around on my excursions which would take me off the main highway at times and the EX would do this extremely well in my mind. So far so good. For other needs that may take me into more moderate rough terrain conditions, I have my Ranger 4x4 but, that situation will only come up once in a blue moon and I will know this condition exist before it happens.
Any way, that's my take on what I consider essential inquiries into this subject. But, another red flag comes to mind when considering off road capable vehicles. I don't know of any that have sideways mounted engines.