I've driven my 1/2 ton Silverado 4X4 three times on the beach at Corolla. We stay in KDH and usually go up to Corolla one day. It is my favorite day of vacation. It is a ton of fun. First off, my Silverado did it with no problems, did not even come close to getting stuck. Truck is not lifted, modified etc, it is bone stock. I run Bridgeston Revo Tires.
Second, there is a ton of people doing the same thing, follow the trails, ruts, whatever you want to call them, where vehicles have already traveled.
Third, take your time, it is fun driving on the beach. You don't need to go interstate speeds. Don't be an idiot, there are tons of kids about.
Fourth, I had six adults, 4 teenagers, 2 little kids, coolers, chairs, umbrellas, etc. I was a little overloaded and I did hit some soft spots, and the temp guage started to creep up. Watch your engine temp. We looked very Beverly Hillbilly-ish.
I did not lower the air pressure in my tires, was prepared to do so if needed.
Lastly, as soon as you get back to your place give your rig a nice fresh water bath. Top side and underside as well.
Next year when I go down, can't wait to get the 'Runner on the beach.