In my experience, a good coat of wax does wonders. The first time my wife took her TRDP out following me in my 3rd gen, we ended up on this horrible trail that was literally a mile of tree claws. It took us about 90 minutes to get through, with me driving 50 yards at a time only to get out and walk back so I could try to hold back limbs as she inched forward. The paint looked aweful. But when we got home, I washed it and re-waxed it and it turned out 99% of the scratches were just in the dealer's wax job, or at least shallow enough in the clear coat that the wax hid them perfectly.
Also, in my experience, the more specialized your protective layer, the harder it is to repair if you do damage it.