My Fiance' rolled her blazer an unknown amount of times, broke her neck in 2 places, cracked her head open. That kinda thing messes with you, but if you dont get out and push yourself it will only get harder.
Even to this day, some 6 years later when she watches a movie with a gnarly crash she freaks out.
Glad you and your friend are Ok, but definetly dont leave the jeeping.
Take it easy and maybe build something for trails only and take rides with other people for a while...