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If all you want to change is the Cam then look at the CompCams 35-510-8. At 0.050" duration is 206 / 214. Lift is .533 / .544. Lobe separation angle is 112 degrees. RPM range is 1300 - 5300 RPM
If you want to go to 1.7:1 rockers, then look at the CompCams Extreme energy XE264HR. At 0.050" duration is 212 / 218. Lift is .544 / .544. Lobe separation angle is 112 degrees. RPM range is 1500 - 5500 RPM
Cams similar to these will give you good torque and throttle response at low RPM which is generally what you need for off-roading.
You should also go to headers to help.
You can go for more cam, but you will need to change other components to realize any gains, like Mass Air, Larger Throttle Body, Axle gear ratio.
The next step up in cams needs a manifold change and heads.
I'm going to be running Mustang shorty headers. And a Mustang EFI system (hood clearance in a Jeep)...and a small block C-6 and NP-208 with Dana 44 front and Dana 60 rear