I have minimal overall experience, but when I go out, I bring a lot of tools. Like a LOT. Deep sockets, shallow, 1/4" 3/8" 1/2", wrenches, and array of pliers, hammer, pry bars, a multimeter for electric diag, electrical connectors and wires, Allen sockets and more. I also bring one front axle, one UBJ, one LBJ, inner TR, outer TR, pitman arm, idler arm (mines a second Gen so a bit different steering), A front brake hose, rear brake hose, universal brake hard line, universal fuel hose 1/4 and 5/16, radiator hose, a heater hose "U" to bypass, belts and bunch of other little stuff. All these things I consider would strand me if they failed. So, I carry an extra of each. Packed right all the parts are in a 20"X10"x10" durable tool box, all hand tools fit in a carry tool bag about 14"x6"x6". Not much space for the value of it.
My point is that it's better to have it and not need it, than need it and not have it. Period. You don't need to do a 1,000,000,000 mile fix on the trail. The point is to finish the trail, limp home or tow it, and then fix it right if need be later on. All that being said, an ounce of prevention is worth a pound of cure. So keep up on your rig, and don't go overboard on abuse on the trail. Be aware. My uncle has off-roaded in an 87 pickup and has never broken an axle. He also knows what to do and what not to do. Challenge yourself? Sure. But be prepared for what the results of the challenge bring.