For rallycross, if the course is smooth-ish and not rollover-inducing, driving a bit slow and working your way up to it tends to be pretty safe and pretty fun. The key in anything taller is to avoid over-driving it and smacking ruts sideways, etc. Doing stuff like that has flipped Subarus before, so...
FWIW, I've gotten more weight off the inside tires of the Jeep in a turn on pavement than I ever have at a rallycross. But I'm always a bit careful. I tend to only let the tail out on pretty smooth sections just to be safe.
