As mentioned, it all depends. There are two types of offroading, exploration and the sports of racing or crawling.
Sometimes the boundary is not clearly defined but so long as you don't trespass on the other side, you can do with no breakage.
So far for me, I had minor bumper issues on my Outback, tore a fender flare off on the 4R, and have some scars underneath and on the bumper covers. Tires don't count as damage.
I do have full set of 3/16 skids and upgraded rear LCAs. My front 3/16 RCI skid is mangled on the front end completely (speed).
Once you move over to high speed or tall rocks, you would absolutely have to prepare for what the pictures above (thanks for those) illustrate.