The S-10 platform had no real major chassis revisions between 1982 to 2004 when it more or less ended, aside from the ZR2 models. The only thing I can think of is a front brake improvement that happened in '94. I had a 1998 Sonoma ZR2 that was a great truck. Mine had the 4.3L and a 5 speed manual, and it was an awesome combination. If you want a "square" one, I'd opt for '88-93 being the prime years, and I'd still look for a manual trans unless you want an auto. Better gear selection with the 5-speed.
I would personally look for a '98-04. Price isn't likely to be that much different, but the interior is worlds better. No option for manual T-case though, got to stay '97 down for that.
As some pointed out, the S-10 Blazer/Jimmy was never terribly "offroad worthy" in stock form. This mostly because the frame hangs quite low compared to a 4-runner or Cherokee. That said, I've had several friends wheel them with decent results. A small (~1") tweak on the torsion bars and a set of shackles for the back and you're instantly 1" higher all around. Bump to a 30" tire and you're now 2" higher, and pretty decently capable for most exploring on back roads.
I did not experience constantly failing front end parts. Or any other parts for that matter. An S10 is a fairly heavy built vehicle for it's size, and I would call it a very durable truck... My Sonoma still had the stock upper and lower balljoints in it with ~130k on it when I sold it. I used it like a truck, and my friends joked that it was my 3/4 ton leaf hauler. It towed and hauled far more than an S10 had a right to and not once complained. I put brakes on it once, and replaced the idler arm once, with a HD Moog unit. I may have replaced tie rod ends, but I don't think so.
I have my suspicion that much of the issue with parts failure is that modern parts are generally JUNK, made in China by the cheapest supplier. This is even true of Moog, A/C Delco, etc.
I now assume that any replacement part is going to last 1/10 the time that the OE part lasted.
It is worth noting also that ALL S-10's have greasable upper and lower ball joints as well as tie rod ends, and the idler arm too. Any truck you find is likely to never have had these parts greased. The common "squawk" of every S10 in the trailer park is dry lower ball joints.
Personally, I'd look for a ZR2 blazer if you don't need 4 doors. Much better clearance, a rear locker, and stock 31's make it a great back road vehicle that drives really nice on the highway. I'm not sure about sleeping in the back of the later 2-doors, but the seat does fold fairly flat IIRC.
Good luck!!!