Aside from the basics like having tow hooks front and rear on your Rubicon, here is one thing that most new offroaders don't like to do but they must... and that is to air your tires down enough
. Most new offroaders are afraid to air their tires down enough to help, they are overly afraid the tire will come unseated off the wheel.
For your Rubicon, reduce the tire pressure in your tires to between 11 to 13 psi. Yes, that low. No, you will not have to worry about the tire unseating off the wheel. When we talk about airing our tires down, they're not even aired down until you get below 15 psi.
I had a new Rubicon owner in an offroad group who was having a LOT of trouble on relatively easy parts of the trail. I asked him if he had aired his tires down since his tires (very good Goodyear MT/R tires) were not gripping the trail very well & they were spinning/slipping excessively. He insisted his tires were "aired way down" but wouldn't tell me what air pressure. After he continuously had trouble on the trail, I stopped him again and asked him about his tire pressure again. He angrily replied he had aired "way down" & finally said they were at 20 psi when I pressed him further. That was his problem, 20 psi was way too high. We forcefully convinced him to air his tires down to 12 psi & he had no more problems the rest of the day.
So air down enough & carry a compressor so you can refill your tires before you get back onto the highway. I air my tires down to between 6 and 8 psi if the trail is difficult enough so 12-13 psi is not all that low.
Have fun, I know you will!