traction and driving method / skill is what's required for mud driving
LSD should help
Good tyres help
BFG ALL TERRAINS are good and arnt to noisy / bumpy ride on Tarmac
Driving skill is real important select correct gear and use HOLD button
Nice steady pace about half throttle , hold that pace as you hit it ( but there's a bit left in the throttle if you need it )
No need for speed 1st or second gear and HOLD BUTTON
And gently increase throttle if needed
Straight line if poss
And don't stop just after get out and go yes I made it
Only stop on good ground

4x4 on the bongos only kicks in when the rear wheels loses grip
I've a 4x4 bongo LSD winter tyres and have got out of some really muddy glastonbury festivals and farm campsites with a caravan on the back
And I really don't think mine has ever gone into 4x4 mode
Nice steady acceleration in correct gear is the trick
Unless your trying to get across a ploughed field you should of done the trick with a LSD and good tyres
Doubt you will need to 4x4 it
Remember complete mud tyres grip pattern are a nightmare on tarmac