The equipment is allowed, you just need to have a document that states each and every modification youve made on the vehicle. Yes the trip is still allowed!
tapage, most of the cars that go there have lockers. But they're not as important as youd think on the trip. Your real enemy here is water and mud, but not the really sticky kind that you bog down in (though there still is). The real problem here is that its usually up to the hood, it clogs up the radiator and doesnt really let you see whats on the trail ahead. Sometimes, the trail is so deep you have a dirt wall right outside your window rubbing against the side mirror (which is tucked in). Water crossings are also ridiculously deep and tracherous.
Lockers do help heaps in aislated events, but you can make it there without them "no problem", they're not as paramount as you'd think.
The "pipoteros" who are the people that do that trail maybe once a week or once every two weeks (they take Gas and supplies to Canaima and the indian villages on the way) dont even have lockers or much, they just have some seriously beat up 79's with SOA, military tires and maybe a bumper. They take some rope and thats all they use pretty much.