There used to be some nice trails out here that took some skill to navigate, but were wide enough for a full sized truck without worrying about slapping a tree with the rear quarter when going around a corner. But, the person who owned the land passed away a few years ago and left the land to the state, which has turned it into state park land and blocked the trails for anything with an engine.
There are 2 places I know of in MN that a person can legally off-road their rigs - Appleton ORV park and Gilbert ORV park.
I've been to both - Appleton is about 2 hours closer to home, but still a long drive to get to and not big enough for a full size truck, considering last time I was there I was a passenger in a ZR2 Blazer that couldn't make it through the trails because even that little 2dr Blazer was too big.
Gilbert? Fun place, but it is built for true off-road rigs, unless you want to play in the mud pit - but that red clay mud will strip your paint.