Can the 2020 Subaru Impreza Really Handle Off-Road Adventures?

I've been considering taking my Impreza on some off-road adventures but I'm not sure if it's up to the task. The all-wheel-drive system sounds great, but how well does it actually perform in rocky or muddy terrain? Has anyone out there had a chance to try this with their own 2020 Subaru Impreza and can share any experiences or tips?