I took a lot tips from this forum and did the same. Wider Yokohama Geolandar G015 all terrain tyres and a mild lift. We take ours off road a fair bit and I've found the limits of the car too. Even with the one inch lift the clearance is appalling, I have a rock sized dent on my oil pan to prove it. 😂 Also, the CVT/computer just won't let the car put power to the ground to get over more challenging rock steps.
Having said that, for the money and fact that I use this car to ferry kids to school on every other day that it's not off-road it's a pretty decent bit of kit. When I bought the car, I never intended that I would be out camping or off roading this much. Just started replacing things as I needed. E.G. The rear springs sagged so I replaced all four with lifted heavier duty King springs.