How good is a Hyundai Santa Fe off road?

I am thinking of buying a new Hyundai Santa Fe, mostly I'll be driving it in the city, but sometimes I may take it on the beach or in the desert (no crazy rides though...just sightseeing).
Do you think it'll be fine for that purpose? I heard it's not that good off road, and I just don't want to take the chance of being stuck in the middle of nowhere with it...

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