The unfortunate fact in this conversation is that a trike is not a good platform for traversing low traction or off pavement surfaces. For other than a snowmobile, the old saying 'You can't make a silk purse out of a sows ear' comes to mind. Though that has not kept people from trying. So we have to start here or dedicate ourselves to ignoring reality.
Still, as has been pointed out, anything can be improved upon. Though it comes down to how much improvement at what cost, Everything in life is a tradeoff.
As has been discussed, even a well maintained gravel or dirt road can deteriorate quickly at some point during the 'Adventure'. And a choice has to be made. Attempt it, or turn around. My guess is that the OP is an 'Attempter'. Nothing wrong with this, though there are always consequences. Especially for failure. Don't ask me how I know this.
My unlettered opinion is that front wheel drive is the 1st order of business in this universe because you usually can't use speed to get you past bad road conditions. Ground clearance is fine. But I think the greatest and most often encountered deficiency is going to be lack of traction. Even if you do have the needed ground clearance.
Ground clearance increases center of gravity and instability. This is easier to deal with on 2 wheels. Larger diameter tires, of any significance, will create other issues. Especially at the rear. We all know that tread designed for off pavement can make potentially unsafe concessions for pavement traction.
Skid plates have advantages if designed properly. But they are going to reduce ground clearance. Again, in my unlettered opinion, you are taking your Canyon to places that it isn't designed to go if you need substantial underbelly protection.
Most vehicles are capable of going beyond (some well beyond) their intended purpose. How far depends on several factors. A major one being the operator. I wish everyone pushing a Canyon beyond its design limits the best of luck.
