1) Gravel Roads?
All the time, and worse: that is where the good camping is.
2) Road Hazards?
Go slow, I have a couple 2"x12"x4' boards that I use for leveling side to side that can also be used in a pinch to help cross ditches or "cuts" in the road but have never needed them.
3) Dead Ends?
I try to have an idea where I am going, but sometimes I get in a small bind see post 201 here:
Generals gone AWOL Summer 2008 tour input but it usually works out. Just keep an eye on the usable turn around spots and don't go further than you want to back up. That whole thread has a bunch of good boondocking related information in it.
4) Protection?
I doubt you need it, but if it makes you more comfortable, and you are competent with the firearm, why not.
5) Communication?
I have to be reachable for family reasons. When I am out of cell coverage, I make sure my family will know where I and how to find me and give them the local sheriffs office number. On occasion I make contact with the District Forest Service office or the sheriffs office. So far they have always taken down the information- I think their attitude is that if something should happen, it will save them a whole bunch of back road driving and searching.
Having said that, I am going to satellite internet so I can be reachable by email regardless of where I am.
If you have more questions, be sure and ask. For my money the best way to see the west is by boondocking.