Don't worry, I never had the $$$ to mod my vehicle so I had a near stock Xterra in Moab for a long time. Here's some pics from GONE 1 .
If you have enough 4x4 experience you can do fine on the harder trails. Mods just make it easier.

And as for packing, Moab isn't a big town but it does have most anything you'll need if you forget.