If the goal is to avoid getting stuck in the sand, the best one can do is avoid driving on dunes with a heavy load. It is thus necessary to keep it to the strict minimum.
In the morning, the sand is still fresh, and consequently, very compact. It is best to cover the maximum number of kilometres in those conditions.
Some rules to remember :
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deflate the tyres a little, to better the vehicle's bearing capacity (the surface in contact with the ground is more important)
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brave the dune face on, so as to avoid the car bending trajectories
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take large turns to avoid the wheels locking
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have at least one or two dunes in sight to prepare your route
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speed up at the bottom of a dune and avoid decelerating early on
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stop on sand areas that are stable and firm.