My VX was bone stock with no skid plates for my first ZuZoo (I did have 285/60 R18 Nitto's on though) and didn't really have any problems. I've been stock height for the past couple of ZuZoo's, but I did put one of the Trooper skid plates on just to make sure. I have have hit the plate once or twice, but I tend to drive like a little old lady going to church when I'm offroading. It's all about the lines you pick and just taking it easy to make sure that you don't really bang into something.
The plates are fairly easy to come by and are even easier to put on. If you are going to make it out to Moab and don't have the time to install it yourself, bring the plate on out and we'll have a little wrench time at the Red Rock the night before the first run to get you taken care of.
"The major difference between a thing that might go wrong and a thing that cannot possibly go wrong is that when a thing that cannot possibly go wrong goes wrong, it usually turns out to be impossible to get at or repair."
-Douglas Adams, Mostly Harmless