The Jeep he was following in the video exited the course part way through. Would be nice to know if you could do that in case you decided it was a bit too much.
I wouldn't worry too much about avoiding it before doing the steering rack reinforcement. I have wheeled a lot worse than that without any reinforcement and no issues. I did bend the bracket for the steering rack at one point but that was a winching issue. Huge tree had come down over the trail that we had to crawl/winch over. While winching one of my tires started binding up against one of the limbs pushing the tie rod and in turn putting pressure on the bracket. Was an interesting drive back to FL from TN because whenever the front end would rise on acceleration it would wander all over the place as the alignment would change with the height of the front end