If you can, try and wheel with someone. That said, I prefer to go exploring on my own for cool camping sites and have been doing it for 15 years. Probably the best advice I can give is to bring a mountain bike. I always bring mine and I know even if I break something or get super-stuck, I can always mtn bike out to cell service and call any number of buddies to come bail my lame azz out of the woods (it hasn't happened to me yet, but my brother gets stupid stuck all the time
).
Use CPs list, it's a great start, add an industrial first aid kit - if you get stuck and are f'ing around under the truck trying to get unstuck, you are more likely to break something on you - make sure you are prepared and it will all go ok