A 2012 Rubi?! OH YEAH! The Rubicon package is THE most capable of all of the stock packages. Granted, I do not know of nor have ever been to the place you are speaking of... But I would not be worried about much that you can encounter in Iowa with your baby - excluding the more challenging areas of the JOCCI and MIOBI parks - just don't get stupid with it.
If you come across an area you aren't so sure about - get out and take a little walk and asses the terrain to see the best "line" you can take.
Personally, I would not be worried about it at all. You'll be surprised what you could get through without all the fancy bells and whistles that the new Wrangler models come with - even without the Rubicon package. But I can understand your concern since you're bringing the kids along.