I did in my 2011 Overland on 20s with stock tires. The water crossing was fine but hopefully you have better tires for the rocks.
Did about 3/4s of the Mojave Rd with a couple friends who have a Wrangler Rubicon. I have a non-ORA Overland on stock Forteras. Only mods are the tow hooks. I also slept in the back of the Overland on an air mattress and slept great while seeing the stars through the pano roof. :thumbsup: :sleepy: