Your best bet is to print the map from the DCR site. In looking at the map, notice that there are TRAILS and ROADS. Full sized, registered, insured, "street legal" 4x4s are ONLY allowed on ROADS. We are NOT allowed on any trails. There are mostly dirt roads but there are a couple that require 4WD. One has a section that is only about an 1/8 mile long but that one section pretty much requires 35s, lockers, a winch and no real care for your bodywork. In years past, it has taken nearly 4 hours to get 15 rigs through it.
Also note that there is both a summer map and a winter map. Most of the roads are NOT open in the winter as the sleds have their only access.
A good idea is to have a GPS with you, along with the map, so you know where you are. Not knowing will not get you out of a ticket if you're caught on a trail/where you aren't supposed to be. Having the map and GPS, oe can prove where they are.
If you stick to the simple dirt roads, one can easily go alone, however, nasty section I would not go into alone, nor would I tackle some of the mud out there w/o someone to give a tug.
Don't expect to get any reply from the state and if you do, they will most probably tell you that off roading is not allowed in the forest. They mean that traveling off the roads is not allowed, but they really don't want us there, so they'll use the term off roading... especially if you used that term.