Off-Roader
Soft-Roader
In the past few years car manufacturers from both ends of the spectrum have been progressively headed for a middle ground. Many previously "Off Road" capable brands and models have been made more and more comfortable and refined to the point that they are not actually off road capable vehicles any more, and "Cross-Over" vehicles that promote a sporty outdoor lifestyle have been brought out by many manufactures. Collectively these are "Soft-Roaders" - Vehicles that are at home on a dirt forestry road with a few bumps and ditches, but that aren't ready to head onto unmaintained roads with deep washes, big rocks, and deep mud.
Typically Soft-Roading trips are more about the scenery and getting into less traveled areas than for the advanced driving skill required for serious off-road terrain. That doesn't mean you can't use one of these vehicles to push your vehicle and your skill to the limit, just its not generally what they are used for. By the same token you can have a vehicle capable of true off-road driving, but simply not be interested in that type of adventure so the Soft-Roader community is a better fit for you.