Plenty of good forest trails through the Morton National Park just inland from there. That said, not all really need 4WD unless it's wet.
One of my favorites from way back is to drive in and do Pigeon House Mountain (a decent walk as well as a drive): https://www.nationalparks.nsw.gov.au...-walking-track
More suggestions in "What to do" for Morton NP https://www.nationalparks.nsw.gov.au...-national-park
Have a great trip!
Dave