It can be done, but be prepared after the first several runs to do some repairs to beef up various things so that they can handle the shaking on the wash boarding (that’s the term you’re looking for). TM’s aren’t really designed or rough roads, but if you take them, they will follow!
Here’s a intro to what you might encounter:
https://www.trailmanorowners.com/for...ead.php?t=8100
That being said, I’d say the same likely holds true for any other mainstream RV. You’ll need to buy a trailer specifically designed for off-road use to improve on that, which significantly adds to cost and weight.
Dave