They way I see it, is that any form of wheeling is going to cost you sometimes. So you don't like mudding, thats cool but rock crawling and trail riding are sure to cost you a body panel or two, or all of them when you roll your truck. It's just about what you want to replace and what your willing to sacrifice to have a good time. There are safe ways to wheel, but I'm sure all of us who like to offroad will eventually see some consequences one way or another.
Just clean your truck off good, it doesn't look like the OP got in too thick to worry about much.