There was a bit of a learning curve for me to figure all the gears and ranges out. When I first started off roading, I used to stay in 4hi and try to navigate obstacles. The only thing that did was burn my clutch. I soon figured out its better to stay in 4lo the entire time (with my gearing and tire size). I use 5th or 6th to keep in line on the trails and 2nd or 3rd to go over or through obstacles. I havent found one yet that required 1st, Im sure its only a matter of time though.
The way you operate the clutch on road and off road is waaaaaay different. On road we all have a tendency to use the clutch for almost everything. Off road its not as neccessary. Keep in mind: go slow and your Jeep, by nature, doesnt like to stall. If youre in the right gear going over an obstacle, you might just need a bit more gas, it wont lunge forward. If youre going down a steep incline, let the engine do some of the braking for you. Again, it more than likely wont stall. Since Ive learned to use 4lo properly, I have yet to stall. Even my wife, who is new to driving a stick and very nervous off road, has yet to stall.
Bottom line, you dont need to use your clutch as much as you think you do.