How much of a disadvantage is my Toyota Aurion compared to my friend's Honda CR-V for camping trips?

My friend drives a Honda CR-V and I drive a Toyota Aurion

We mainly go camping at places that are considered 2WD accessible. Think gravel roads, corrugations, potholes, muddy patches after light rain, and the occasional shallow creek crossing. No serious 4WD tracks.

Obviously the CR-V has more ground clearance and is better suited to rough roads, but I'm curious how much of a disadvantage a normal sedan actually is in practice.

Is it just a matter of driving more carefully and taking better lines, or are there a lot of campsites and tracks where I'd realistically struggle while the CR-V would have no issues?

I'd also be interested in hearing from people who regularly take sedans camping. What has your experience been?