There's a few videos of X6's on grassy knolls and ski resorts, but haven't seen any true off-road excursions. I've done a fair share of off-roading and the ability to maintain low gears, combined with ample axle travel and high clearance, play a significant role in maneuvering about. Also, the ability to brush off minor dings/scratches is hard to swallow at first.
You can't go wrong with BF Goodrich All-Terrain tires, but I'm not sure if they would be compatible. Only one way to find out!