Your manual should have a small Offroad instruction card book in it. It will tell you what all the different modes are for. Personally, I prefer Offroad mode, traction control off, and the rear diff locked. If you are on slow technical stuff, mud, rocks, uphill sand wash etc. I would recommend 4hi or 4low.
Coming back down, engage hill descent control.
To prepare for Offroad check your spare, front suspension rear suspension, engine bay, and anything in your bed make sure to tie it down. Also, make sure interior stuff is hidden or secure so you don't have it fly up and hit you or slide under your feet to prevent you from stopping or getting to the gas in time to get out of deep sand, getting you stuck
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