A novice can have a good feel for the lines, but nothing beats experience.
Beasley can be challenging. It is rutted and/or steep in places and can put you in a flop if you're not careful.
I have seen stock jeeps go everywhere except 93B, and I've seen built rigs on their side by riding up on one side of the trail and not splitting the rut.
If you can go with someone who has experience, do so,and watch their lines and do a little follow the leader.