You should go! You can keep it as tame as you want, no jumping it required. Choose a weekday if you want less traffic, but always keep your head on a swivel anyway. Avoid the "puddles" for now if you're not trying to push it yet; some of them can be over your hood. If you have carpet, prep with some rubberized floormats if you don't already have some in to keep the sand easier to clean out. Past that, air down, bring your shovel and some traction boards if you have them (never needed them there yet myself, though) and have a great time!
2021 Oxford White 2-door non-Sas Mid package 2.7L/10-speed Badlands with MIC top
2021 Carbonized Gray 2-door Sas High package 2.7L/10-speed Badlands with MIC top
Keeping the Jeeps: stock '89 XJ, 3.5" lifted '00 XJ on 31s and '89 MJ