Yes, most people will tell you to be concerned about recovery and safety first. So a winch is a good start. Lots of resources out there (youtube, these forums etc) that describe must have first mods/accy's.
Your Rubicon CAN do the Rubicon trail. Its in the name for a reason. However that really comes down to experience. Which lines to take, a good spotter, and personal experience. Not a first timer kind of trail

Stock JLUR's will bash the rock rails and skid plates on trails as difficult as the Rubicon, but it will get through with skill, luck and maybe a few curse words.