Subframe mounting has been covered on this forum many times and it is often a very contentious subject.
The bottom line is that there is no "one size fits all" solution for mounting a subframe/camper to an expedition vehicle, as there are too many variables: brand and year of truck, chassis design and thickness, weight of the camper, terrain that will be traversed and the list goes on.
You are correct that a fixed mount could possibly do the job, but in an off road scenario the chassis will twist much more than a road going truck would experience. If that twisting is only encountered occasionally then there would be less risk of chassis damage, but it's like asking... how long is a piece of string?
On this forum there are numerous pictures and videos of Fuso/Isuzu owners doing some decent off road driving and what is evident is some pretty serious flexing when they do that.
Especially with the stepped frame of the Fuso, a fixed mounting system will create some pretty serious stress points, normally focussed just in front of the step. I have seen many trucks with cracks in the chassis in that area.
Personally, I would not like to go off road in a Fuso that had a fixed mounting system, but maybe that's just me. Each to their own...