Sounds like you need a trailer.
I've got a truck that I sleep in and pull a kayak/gear trailer. The benefit is that I can set the fishing gear up near the water and park the expensive truck on higher ground. I have also found that if it is late and the combo gets stuck, I unhitch, dig the truck to safety and deal with the trailer in the morning. Sometimes 6 wheels just won't make it so I drop the two that don't push.
But if you go down tight trails, put a rtt on a trailer and the canoe on the truck to shorten the wheelbase. It'll also let you set up camp and go exploring for the day.