Yes, kinda, but with caveats.
The full size trucks do have better specs in almost every category, that is true. But in many cases, that’s a marginal improvement - 1900lbs payload vs 1500 lbs payload. Some full size even have less payload than the mid size because of the number of options. MPG and range are both better, as is power, but MPG and Range are easily addressed with more gas and that’s rarely truly necessary in North America — motorbikes do the most remote run in the continent all the time and almost every one has less range than a truck.
So, there are marginal improvements in payload, and the other improvements are there but not necessarily significant. The negatives are weight and size. For an extra few hundred pounds of payload capacity, the full size trucks are often over a thousand pounds heavier or more than their mid-size counterparts as a starting curb weight. Because they are bigger, they fit more stuff and the “better bring the kitchen sink” means that loaded up, they are even more significantly heavier (assuming the mid size is kept in spec; many are not). And the physical footprint is much bigger, which impacts turning and off road performance in the bush, and makes them a bit less easy to drive in populated areas.
I can find a way around most of the issues a mid-size presents — keep things light to stay in payload (400lbs is rather easily found in aluminum vs steel armour, or by taking a backpacker mentality to your kit). Have a way to bring Jerry’s for the occasional time more range is a nice to have. And as far as performance, they all go way faster than the speed limit and get to that limit…eventually — the newer gen ones quite quickly actually. But, I cannot make a full size truck more narrow, and that extra weight can be the difference between sliding off the weakened bank of the mountain road or not. So, I personally weigh the pros and cons of both, and end up preferring the mid size truck for my needs.
If I was going to go full-size, it would either be the f150 with the heavy duty payload package, or I’d skip right past the 1500 series trucks and go for a minimum of a 2500 series. Same relative footprint, but that’s when you start getting seriously impressive payload advantages over the mid size class.