Brake Antilock Control Unit/module problems of the 2000 Land Rover Discovery Ii

My wife and I took our '00 Land Rover Discovery Ii to anza borrego, CA for camping. To get to the campsite we had to take unpaved trails of certain difficulty rating. Most of which were rated 4-5 with 10 being the most difficult. All of a sudden, the abs/tc/hdc warning lights came on particularly on certain sections of the trail where there were inclines, ruts and gulleys. We got stuck so many times and even at one point almost tipped one side as only one wheel has power and all three were rather stationary. I couldn't get past trails that even some stock vehicle with adequate clearance can manage and had to be pulled and winched out. On some occasions the vehicle almost slid backwards as three wheels would not spin. I believe this is a safety issue that needs to be investigated and it never happens when on paved roads or highways other than the lights remain lit but all four wheels have traction.