The best way is to travel in pairs or groups, at least be within walking distance to get help. Then you can simply carry a recovery rope to make sure you have something to have someone pull you out. If traveling alone a good jack that you are familiar operating and a board to use as a base to raise the wheel high enough to get rocks ( having a 5 gallon bucket to carry then in helps) to fill in the hole you are stuck in helps. I got really stuck in wet clay and sand and it was so slick and soft mats and recovery ramps didn’t work, the little Harbor Freight aluminum floor jack, wooden board it sat on along with 10 or so buckets of larger rocks (you will need some leather gloves) did after I dug (small shovel, in this case a short handled tree planting shovel) enough mud out to get the board and jack underneath the rear end to jack up the wheels. That took most of the day. I don’t work after dark by myself, so I left it jacked up and continued to stack rocks until they were above the water. Next morning at daylight the ground and water in the hole had frozen over which made it firm enough I could let the vehicle down and drive out. A locker would possibly have helped but as soon as I spun a wheel going forward I stopped and watched all four wheels sink into the soft ground, so maybe not. I had walked the area before but ended up in a sink hole in an area I hadn’t plan on going to which is the main reason I got stuck in the first place. Walking the ground first is probably the best way to avoid needing recovery gear, but a pair of gloves, a recovery rope, good jack you know how to handle on soft ground and a shovel that works in the material you are trying to move are the minimum in my opinion. My tires were aired down to 8 lbs. so a small air compressor is necessary to keep from ruining tires once you are out as well.