Getting into off-roading

Hello just got a 2005 4Runner that had some modifications already made on it. I eventually want to do some light off-roading, looking too see if anyone has any advice or tips for mods or off-roading. Thank you! Here are the mods that it came with from the previous owner. It’s a V6 RWD

List of mods: - Bilstein 5100 2" lift Cali raised ditch/ pod lights (crazy bright) Cali raised bumper light bar (even brighter) TRD pro style wheels Falken wildpeak tires 32.5" Raptor grill with lights Sony XAV-AX5500 with CarPlay New "black zebra" trim pieces all throughout the car WeatherTech weather floor mats Matte black dash piece Matte black roof racks