Does anyone truck camp / do light off roading in a RWD?

I got a RWD Tacoma last year and now wish I got a 4WD. But I’m not sure if it would be worth it to eat the cost of getting another truck, or make do with what I have. I would get a winch for the front and maybe a come-along for the rear if I need it.

I plan on light trails to get to camping / kayaking spots, motocross trails, and tracks.