My thoughts on fuel...
I have done several combinations of all of the things described here on my Rock Crawler.
I have a 454 engine in my Offroader, and it devours fuel. And I have done many LONG trails (Dusy Ershim, for example) that are very fuel intensive, so fuel is always a concern. Some things I have tried (no real order)
1.) I agree strongly with low COG. Don't dicount this. I guess if you aren't actually offroading, who cares, but for me, I go to great lengths to keep things low. I sliced up the body to keep clearance on 40" tires with only 4" lift. I mount spare driveshafts and tools as low as I can (often underneath, shielded by the frame). This is a big deal for me. Rollovers are a hassle.
2.) I run twin factory 20 gallon tanks (one on each side). Saddle tanks, with a switcher from the dash. I like this because I can drain fuel from one, then the other at intervals, so I keep weight even, and have less trouble if I punch a hole in one. Then I only lose half my fuel. Also important if I am rolled on my side... I can swap tanks, and drink from the one with the most fuel hitting the pickup.
3.) I have tried a combination of Jerry Cans, RotoPax, and Boat fuel cans. I used to use a 12 gallon AUX fuel tank I got from a boat supply place, mounted flat to the bed. I didn't connect it to anything, but I used the sihpon to refule the main tanks at lunch breaks, etc. As I said, I am all about keeping fuel in the main tanks, and not having slosh or High COG.
4.) I LOVE RotoPax. They are great, beause they are easy to mount other places. I have some mounted flat in my truck now, and they carry enough AUX fuel to refill quite a bit. I do not like the idea of only having a huge interconnected fuel system, because it makes it hard to share fuel with others. I almost always wheel with others, and lots of time you need to share. Having small, portable fuel cans is definitely the way to go. One of the main reasons I ditched the 12 gallon boat thing. Too heavy and hard to move around.
5.) One last thing I do is use a collapsible fuel bladder (like one of those collapsible water jugs). I fill it up (or a few of them) whenever the "last gas" is before getting to the trail, then I top up as soon as I get to the trailhead and air down. I do not like the idea of carrying unvented fuel in an unapproved container for long distances, but I do it on the road right before I get to the trail. Again, my whole plan is to refill the facotry tanks.
Hope this helps.
-Dan