I've been to khor al udaid dozen times with my pocket size 4x4 alone. I studied the area with google map, set my destination, waypoints and saved it to my google map application in my gps enabled mobile phone. Brought some things with me, shovel, piece of plywood, tow rope, jump start cable water etc.

See the vid below, the last trip I did with friends...

http://www.youtube.com/watch?v=_Vr5YBep2e4