As
@NorCalCrisp started, there are a lot of us here who are adventurers similar to you rather than rock climbers and serious off-roaders. A lot of us would fit into the "softroader" category. We've got Kia Soul's with mild lifts and racks, my old Subaru was nearly stock, and we have a mildly modified Volvo wagon. There are a lot of adventures to be found down gravel roads that almost any vehicle could traverse.
@Michael's #1 rule here is that it doesn't matter what you drive, as long as you are out there exploring. You'll fit in perfect here!
BTW, a 4WD Sprinter is on my wish list, and if we end up at OTG2 together, I'm gonna follow you around like a puppy, asking questions. :)