I have taken my Judge off road a fair bit. The Victory needs a bash plate and is ahem not the most nimble machine plus the suspension is shit. But it just ploughs through. Just don't drop it.
But if you seriously want to go off road you need to try say a Triumph Tiger or a GS or maybe a Ducati scrambler. Go for made in Europe if you can't stand the thought of Jap bike
2013 Victory Judge
Bling: RPW Thor 2into1, Llyodz ATS, air box, ECU.