This may sound insulting. If it does, my apologies in advance ...
There is a lot of difference between driving a 4*4 on the roads, and on fields/poor ground. If it drives properly on tarmac, then it should drive fine on grass.
What sort of tyres does it have on ? If 'road-type' tyres, then they are brilliant for acting like greased weasels, especially on wet grass. Proper 'all-terrain' tyres are a lot better.
You may also be using too much lock / too much throttle. Try delicate steering adjustments and minimal throttle, and see if that makes any difference.
You should be able to most trailer/4*4 combinations on fields in low box just by letting out the clutch. The gearing is low enough that it will just take itself forward at 2-3 mph.
Lastly, you don't say how big the trailer is. If it's a proper big Ivor Wms trailer (mine is 12ft by 6ft, and weighs 800kg empty), or if it's heavily laden, then it may just be too big for the vehicle. The Jimny isn't very heavy or large, after all.
Hope to have been of help !
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