The danger with mud is it's corrosive to the parts it clings to in the undercarriage. If you can, the best thing is to wash you truck and its undercarriage after every session. However, there is no way to completely get around the fact that sand and mud DO cause premature wear. How much it actually causes can be debated, but I'd check your steering and suspension components on a regular basis just to make sure. Otherwise, that truck is a champ and should do fine.
PS: My truck is 2WD as well, but I've noticed I can make it through almost anything a 4X4 can make it through with the differential lock engaged and some weight in the bed of the truck. Weight in the bed is very important. If you need to, you can keep the locker engaged for awhile if you think you might hit some tough stuff unexpectedly, it won't hurt the truck at all.