the rock panels on the 2 gen Rodeo are hanging too low (I had one, I know this vehicle very well). With a VERY good driver, it may be possible, but this will require a good experienced spotter too. I'd suggest getting at least 2" lift and the rock sliders before going there. In my Axiom, I was just driving straight, using my rock sliders to get over the canyon rocks. Good articulation and a locker are very helpful there, when you are not choosing the best line.

I am NOT a very good driver, and I know that in a stock 2 gen Rodeo I'd damage the body panels. But somebody else may be able to do this.