Hmmm....there is no definitive answer. I'd imagine when the pavement, asphalt or concrete stop...your "off" the road and when your on dirt, soil or rocks....your officially offroading.
A fire-road or access road is just barely offroading. Once you need 4-wheel drive and perhaps start using the low-range and going over things that would stop your typical sedan..that's pretty much offroading.
Keeping it simple.
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