While there have been vehicles like the E350 that can see pretty consistent loading and had a semi-float axle, even the E350 had a full float and even full float dual rear wheel option. It just depended on what GVW the vehicle had optioned I believed. Not all where semi-float.
I would have to dig a little, but I don't think the E350 semi-float was a c-clip axle either, I think they flat got that wrong on the J8. They had a lot of better options. I think they did a little bit of penny pinching with the J8 program. Funny as it sounds, I think they may have sourced the rear axle for the J8 from the SRT10 truck program. The brakes look the same, bolt pattern matches, diff type matches, etc. I'd love to be able to cross the part numbers and check it out. The SRT10 payload was pretty low if I remember right.
The new dana/mopar aftermarket 'ultimate 60' stuff is VERY well built stuff.....real wheel bearings, full float, big discs, big bolt pattern, etc. If I was going to try and replicate J8 type durability at higher than JKU factory GVWs, that is where I would start.
I'm not talking about rock bouncers, but I do tend to use my vehicles on more difficult trails than most. I also spent almost a decade running fire engines around the mountains for the BLM. If you want to see what happens to a vehicle that runs off highway at GVW most of its life, that is a good place to see it.
Short version. I don't trust semi-float rear axles. I even converted the D44 in my old Willys to a custom 5 on 5.5 disc brake 30-spline full-float system.