We need more information on the vehicle you were driving. A skid plate will be a good investment. A lot of my friends who are in off-road adventures have installed suspension lift kits to make room for all-terrain/mud tires.
Looks like you had great company during this trip. The view looks amazing. Which all-terrain tires are you using? I am planning to replace mine, and I am currently checking the options on 4wheelonline.