Most 4WD Tagalong Tour operators will provide the safety gear you need - in fact we recommend avoiding an operator that doesn't.
4WD Tagalong Tour operators should also have a level of First Aid Training and experience.
Some basic Safety Gear for your 4WD Adventures:
Snatch Strap / Bow Shackles / Hitch Pin
Tyre Gauge
Shovel
First Aid Kit
Water
Let people know where you are going and when you are expected to return.