With a load, 100% agree, and for most folks overlanding, a full size is a great choice.
For me, compared to my full-size, I actually find I prefer the experience of the mid-size, either a wagon or mini-truck - the physical dimensions, weight, turning radius, etc. are what I like better for remote travel. But, I prefer my motorbike over my mid-size so maybe I just prefer the smallest and lightest rig possible! I also 100% recognize this is a subjective perspective and it isn’t true for others who may prefer the extra cabin space a full size offers. The nice thing about the capabilities of modern trucks - full and mid-size - is that they are very good, beyond what most people need for most trips, and allow folks like me to make these subjective compromises with only minimal impact in other areas like towing and payload.
In an urban environment like what
@jewishoverlander is in, a midsize also has lots of options for maneuvering a city. Thats not to say a full size is ‘hard’ in a city - it’s not really, it’s just a matter of getting used to it. Our full size is our main DD; our mid-size is primarily our Expo rig (which some may feel is backwards a bit, but again..preferences). Both vehicles are used around town often though (albeit less so over the last few months!) And I can say with confidence that the mid-size is a lot nicer in cramped parking lots than the full size!