Chapter 6 (Terrain and Obstacles, page 180) of SHIFTING Into 4WD offers more strategies and hints for driving different terrain.

I chicken out early on rocks. My first rock strategy is to avoid them altogether: Life does not have to be hard to be good and rocks are real hard! If there’s a track around the obstacle, I will use it. For rocks, my first recommendation is drive around them. Avoid them individually or completely (take a different path), but avoidance may be too easy for some.

My second strategy is to drive on them and that may appear novel to the novice. By driving on the rocks, you effectively increase your ground clearance. You’ve now turned that
10-inch obstacle into 10 inches of added ground clearance. The tough part is cautiously crawling up on the rock and considering fast wheel drop off as you descend. Remember that
10-inch rock is still an obstacle until you’re beyond it.

Tire placement is critical and complicated by the fact that you have four tires to manage. With time you’ll get better and better, and with help, you’ll safely learn the tricks.

My next to last choice is to straddle rocks. Usually, this is the second choice for those who have little experience. However, "straddle" ground clearance is difficult to judge.

When you straddle rocks, your calibrated eyeball says go for it, but your peepers don’t fully factor in the loss of ground clearance due to the deceptively low tire tracks. I’m frequently surprised at what bangs up under my 4X.