I went last year with my son in his Xterra. It was stock at the time, but made it without any problems. There are a few places you can choose to "make" it more difficult.
I'll second the go slowly recommendation, there are hikers, but for the most part they are pleasant. Be respectful and you shouldn't have any problem. We got out to the turn around and I asked a couple of hikers where I-40 was......
I'd go back with my CJ.
1980 CJ7, 258, automatic TF999