Welcome!!!
If you've got a vehicle and a tent, you're set for overlanding. Don't get caught up in the gear, just get out there and start seeing sights. I only used 4-low on this weekend's trip so I wasn't riding my brakes on the down hill slopes. A 2wd would have done everything I did with ease and if I hadn't just been craving a steak, we could have gotten by without my stove and mess kit easily.
Don't over think it, find some dirt roads you'd like to check out and some places to camp and get out there!
Look into a local meet-up on the forum and make some contacts in your area!