There is a discrepancy between GAWR and GVWR, likely for several reasons. One reason you already addressed (roll-over risk and COG issues). Another would be that the axles, by design, need to have a higher weight rating than the GVWR in order to accommodate the combined payload and vehicle weight as the suspension cycles.
If that was the case, then why does EVERY commercial truck have a GVW = sum of GAWRs?
I'm talking every Peterbilt, Volvo tractor, dump truck, cement mixer, mobile crane, tour coach, you name it. In fact, if you look up a say, a Kenworth T880 manual, it doesn't even list a GVWR. All you have are the different axle options (13.2k, 14.4k, 16k, 20k front, 38k, 40k, 46k heavy spec rear, etc.) Not only that, with a overload permit, I can easily (and legally) exceed just about any weight rating of my truck when hauling commercial.
Axle, tire, and suspension load ratings are all based on dynamic, not static rating. If it were static, then every pothole would severely over-load the axle. Depending on your damper, a shock load can be 5 - 10 times the static load.
More likely, commercial load ratings are rarely based on marketing, as they know it'll be driven by commercial drivers, abiding by commercial DOT regulations. Whereas for a recreational vehicle, the legal team knows in a worst case scenario (improperly loaded and poorly driven), our sue-happy society will always blame the OEM.
A commercial driver, especially a heavy hauler, is expected to know his/her tire and axle loads at all times, and the tire load rating for any given psi. You're also expected to know how much you can safely "overload" a tire at a lower speed (tire OEMs all publish this data). Can you imagine expecting the same from a soccer mom in a crossover?
But we all follow the same laws of physics on this planet, so if we take the same precautions and educate ourselves like a commercial heavy hauler, why can't we at least load up to our GAWRs?