Just think about where you are wheeling and prepare for it accordingly. Most people i go with carry things such as ujoints, neccassary fluids, and a good socket set and torx set. The serious guys who beat they hell out of their rigs tend to carry things such as axle shafts, tierods and tierod ends, ujoints and ujoint straps with extra bolts, tire plug kits, all lubes needed for axle shaft replacement, ect.
Me? i just keep a spare ujoint for the axle and atleast two driveshaft ujoints and anything i need to replace them. And a good socket set with torx bits..