Being with you, and telling you in advance that some dings and minor scrapes are OK are two different things. As the son of a father that would not tolerate this, which made lots of activities a stress-fest, I suggest you guys speak directly about it or neither of you is gonna have much fun. That will be an incredible experience for you guys, but don't let this issue be unresolved.
Once over that issue, you'll probably not suffer a ding....
I've taken brand new stock vehicles (puny 30" street tires, no lockers, etc) through Poison Spider, Steel Bender (whew) Porcupine Rim, Fins, and a few others. But at any given moment, the wrong rock can roll at the right moment.
I suggest you remove all four mudflaps, and the rear bumper tips (a trailer hitch makes one bolt tough to get to, but just loosening it will give you room). But the 80 can easily handle Moab - a great and fairly benign place to learn to wheel. Just address the damage issue in advance.
DougM