Again, D4 here, but pretty much same same.
Yes, leave DSC on. It keeps it all safe and won't let the car slide out on a corner.
Grass/gravel/snow - if it's really loose and slippery, yes, otherwise normal mode is just fine.
And in case you didn't know, the EPB can act as an emergency braking system. If the driver passes out, the passenger can simply lift and hold the EPB switch and the car will do the rest, using ABS, engine braking, etc. It will come to a halt without having to touch anything except the switch. Fun to practice with at 80kph on gravel!
If at first you don't succeed, that's one data point. - xkcd
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2011 Discovery 4 SDV6 HSE
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