I’ve been in a bad situation in a 4wd truck in the mountains, had to walk 4 miles to a logging camp paid a guy on a skidder to come get us out of that mess it was ugly! Don’t plan on getting into that kind of situation again! Been 39 years ago...Huntsman22 is spot on!
It seems like you know what can happen. I'd just take some chains, work gloves, shovel, tow strap, maybe a shackle or two, and a jack of your choice. Your factory jack might be good enough. And some scrap wood. Just some smaller sections of boards. Stuff that many people carry anyway.
Those simple items can often get you unstuck from common mishaps. If you go into a big ditch or worse, you might need outside help anyway.
A way to inflate your tires is handy too, once you get back to pavement, if you end up airing down. I have a compact trail compressor, but have even used cheap Slime compressors. And even hand and foot pumps. It's slow though! Or drive slow to the nearest service station.
