I have a stock 4th gen SR5 4x4 that I've been hitting the trails with. It came with brand new cheap AT tires, which have been servicing me fine for the trails that I've been going on.
whenever I'm in so cal I go out with a buddy that still has the stock tires. we mostly do fire road type things in mountains and roads in the desert - nothing extreme but it handles those environments just fine.
I'm always a bit wary though
OP, I assume you mean tires generally regarded as road tires, not literally what came on the vehicle new. If that’s the case, my build thread is linked in my sig and the first post has videos showing some of the places my Michelin Defenders have taken me.