if they've put in a "rock your way out" hunk of code that they can institute similar to when you get your car stuck in sand or mud.

I'd be curious to know how the engineers arrived at the choice of wheels for the Rover. It seems the ones they came up with are more designed for small rock climbing than dealing with the sand dunes and pits that I'm sure they knew would be prevalent in both landing spots. I always imagined wheels more like the ones they had on the lunar rovers with wide enough diameters that they wouldn't sink and could go over larger obstacles. Obviously the ones they came up with have handled some very daunting terrain and slopes. Maybe size was the ultimate consideration of the wheels, considering the small package the folded lander had to present.