That is some serious off-roadig your talking about there though... Not the mud hole part or the different terrain... but the getting jammed between a boulder.. and FLIPPING?!?! You should prepare for that by just praying you DONT!!!
Look on some of the 4 wheeling magazine websites, if your really set on trying to figure out how to cope with those situations, check out some the articles on there.
For the normal 4x4ing techniques and tips, look on here.
Use the search bar to find specific things out.
HOW to off-road?
check out this thread.
Theres a lot of info on this forum, you just gotta dig a little, Hopefully you'll find what your looking for!
Have a good one!