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From personal experience the CR-V does just fine off road, assuming you're not taking it boulder crawling. I've driven my '99 CR-V EX 5spd through fields, dirt roads, gravel roads, snow mobile trails (covered with snow), and a healthy dose of mud and shallow streams. The earlier CR-Vs had a front skid plate available as an accessory, I don't know about the 2002. The muffler and rear differential are not protected on the earlier CR-Vs, again I don't know about the 2002.
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