Get very familiar with the lowest point o your vehicle.. prob front diff.. and know its location to the line your picking.
Go low.. go slow.
On steep climbs or descents... keep that front facing up or down... Dont get turned sideways.
Think how the vehicle pitch, angles, and center of gravity will be if you roll forward inches.. especially on hills.
Use an experience spotter if possible.
Trust your gut.
Especially in sand hills. be aware of how the sand shifts, and how your gearing will react. Example.. on a sand dune descent.. the disturbed sand may fall faster than your jeep gearing can allow in 4lo 1st.. this will cause you to twist possibly.