It depends. As all ready mentioned, to many variables. Most people have never come close to tipping while thinking it was over for them.
On a recent trip we had 2 rock crawling novice drivers. Both had driven various terrain, just nothing extreme. The first day going in on the Hole in the Rock trail they were more than a little nervous. It didn't help that 2 rigs ahead of us turned around at the first obstacle because they didn't think they could make it out. I think they made a good decision for them. Both of ours were driving new rigs (SxS) and were in a little disbelief when we were talking about not even coming close to the limits of the SxS. Coming out they were much more at ease knowing they had already gone up and down the same trail. In fact one asked about a particular waterfall, he was shocked and relieved to hear he had already gone up it. The next couple days in Moab was almost a relief for them. In fact the wife took the wheel of her 6G by choice for part of Hell's revenge and did awesome. Some of us don't view it as a difficult trail in basic form. No, we didn't say anything. We took the side trips for Hell's gate, the Wash tub and the devils hot tub.broke a rear drive line in the devils hot tub. Had to skip the escalator because of time.
They did question a line I took on Poison spider the next day and questioned how it felt to have a tire that far in the air. The vehicle was planted and felt solid.
In the end, it comes down to seat time and knowing what the vehicle is capable of. Gradually is a safe way to learn, you don't want to start on pritchett canyon

. Or you have a beater and want to put it on it's side

. If you are nervous don't push it and let your passengers walk. A good spotter is worth it, sadly everyone thinks they are a good spotter. Trust the good ones, follow exactly what they say .
Keep going and having fun, you get to decide what level YOU feel comfortable. NEVER let someone push you into something you don't want to do.
You can buy aftermarket front and rear cameras pretty cheap, sub $200.