If you're new to off roading, I wouldn't recommend upgrading right away. Bronco is plenty capable stock and off the lot. Get rock sliders and some skid plates, hit up some trails and figure out what upgrades you need. If you're nervous, go with friends or a group. Get basic recovery gear and...
I had the same issue and didn't change my wheels and tires. The error would come on sporadically. Eventually I went to the dealer and got it replaced under warranty.
Looks like you had an amazing trip! This has been on my bucket list, I hope to make it out there next year. Also, thank you for saving that poor pup, you are a saint!!!
I Love it, I would be interested in this design once it's completed. I was thinking about devising something so I could mount a light bar in the front.