No worries. You don't need a locker or a winch.
There are usually a couple different groups that go out on different level trails. There is always a mild-to-easy group and everyone looks out for everyone else real well.
You need something more than street tires though. The Cliffs, when wet, is messy. When it's dry it's way more fun (and a bit tamer).
We have a few FZJ80s, a few 4Runners (all gens), mini trucks, a buggy or two and a few FJ40s and FJ60s.
I run a FJ60 with a lockrite in the rear, 33" BFG KM2s, 3" OME springs, and a winch (haven't used it at the Cliffs yet).