Can a 2017 Limited do mild off roading?

Get some good all terrains, carry your full size spare (consider two if you go alone, but not absolutely necessary), take some recovery equipment (tow straps, maxtracs, shovel, jack), some toilet paper and water and you are good to go explore.

 

I won't ever say no to a nice complement

 

Throw some Nitto Exo Grapplers on stock wheels, make sure that the spare is matching and have fun.

 

****************

OK, you asked. How do you know? Please do tell.

 

Exactly how I have done this for several years with my F150 and plan to do in the future with my new Tacoma. Heck if I can do this anyone can -- ps --I am in my upper 60's.
That's the trouble with toppers -- when they are off --you need em on and when on you need em off!