I hear ya on off road functionality with a smaller lift. My truck is mostly just my daily driver and will tow my '16 Yamaha YXZ1000R when I really want to have fun off road.
Before I bought my truck I went out with several trucks (Chevy, Ford and Toyota) with the same or similar lifts as mine and they were able to all get thru some decent off road stuff without any issues. Speaking of Jeep's, 2 weeks ago I sold my 99 XJ that had 4.5" lift, lockers, 33" Kevlar MTR's, 4.88 gears, etc and yeahhhhhhhh Jeep's are most definitely the way to go if you really want to take on some obstacles off road. The capability of those things blows my mind.