re: laying gravel without excavating

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Can I just go ahead and put the gravel over the top of the mud and roots without worrying too much about excavating?

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You can, but pretty soon, the gravel will start to reflect the softness of the mud, and those sprts will turn into holes.

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Also, what sort of gravel would be best for this application?

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Go with a larger stone for softer dirt. It will help bridge the gap. I wouldn't use anything smaller than a 610 limestone.

I also recommend a geogrid if you're not going to remediate the existing dirt. It will lock the initial layer of stone into place and will help bridge over the soft spots.