Drive where ever you want as long as it looks the same as before you drove in. A gravel off shoot would be ok, flowered meadow would be a no go, mud bog that you're going to make deeper would be a no, a rocky hill would be ok, a pond would be a no, driving up a creek would be a no.
It's common sense. Leave it as you found it. No one wants to go there to see a bunch of signs every 100' telling you what to do.