Depends on what kind of mud.
If you go frequently it would behoove you to purchase a pressure washer. Also make sure you have a 90deg. angle adapter for the wand. Take the main skid plates off and wash the shit out of it.
Get a good sprinkler and put it under your truck for a few hours. I have a thankless water heater set a 140deg and just run a hose from it to the pressure washer.
Also if you know you're going mudding you can spray the undercarriage down with tire shine to keep it from sticking as bad.
Make sure you get the gas tank skid, frame rails, under the door gaps and the worst is the grille and radiator.
I've seen guys flush the radiator for hours and still have mud coming out.
Hope this helps.