When in Full-Time 4WD mode (this is always for this vehicle), locking the Center Differential would be the first course of action when encountering more difficult terrain. This changes the power distribution from 60:40 Rear:Front to 50:50 (thus increasing front traction), and can be used at freeway speeds.
If you are then having wheel spin problems you could initiate the MTS system, and set it either to Auto or to the type of surface you are navigating (sand, rock, etc.). This uses the ABS brake system to inhibit wheel spin when one wheel is in the air, which robs the tire with traction of drive force, as all power is being sent to the spinning wheel (this electronic system 'fakes' locking a differential, both front and rear; it generally works quite well for moderate terrain). This system works in both 4High and 4Low.
Typically 4Low is used when slowly crawling around over very rough terrain, but I mostly get use out of it when descending steep grades to control speed without having to ride the brakes (using your transmission in Manual mode should become a habit offroad, particularly when descending).
Lastly, locking the rear differential will give you maximum traction from the rear, and is critical to have/use on more extreme terrain; 5mph maximum. You don't want to drive with the rear locked on road surfaces.
This is a generalized course of action(s) offroad, with this vehicle.