Last year we saw everything from Lifted F350s on 35s to stock AWD Honda CRVs out on the beach. People who got stuck we acting dumb. People who drove smart were fine, no matter what vehicle they were in.
Beach off-roading is about the mildest "off-roading" you can get. No rocks to dent your undercarriage, no deep streams to hydrolock your engine, no tight turns to get around. All you need to do is air your tires down, and drive smart. Heck, the campers and RVs are 2wd. But - they do tear up and rut the dunes. If everyone 2wd truck tried to wheel the beach, and left ruts from spinning tires, the beach would be so rutted in a matter of weeks it would be subject to ferocious erosion. The campers are limited to a very small section of beach, very close to the entrance.
However, beach driving on Cape Cod is a privilege. Everyone and their Mom wants to do it, and not everyone respects the fragile ecosystem on the beach. As a result, the National Park Service sets a few rules. We need to follow them, because, believe it or not, they are for our own good. In fact, the NPS's rules rarley get in the way, for example, we can have a fire, at 4:00am on the beach if we want! Find another beach on Cape Cod where you can bring your dog onto the beach, let alone firewood!!