Simple ways to decide if you can get across the mud:
When there’s heavy mud on the road or if you’re driving off-road, stop your vehicle and inspect the hardness and depth of the mud before driving through it.
Observe tire tracks of other vehicles to gauge the depth and consistency of the mud.
Determine the type of vehicles that have left the track from the sizes and widths of the track. Use that information as a reference to decide if you can get across.