The lack of suspension travel definitely is a concern of mine. Did yours have the quadra Lift? 10.4” is more than my 4Runner had stock.
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No QuadraLift on mine, but it did have skids, tow points, and 4Lo.
I'm of the opinion in that an overlanding situation, you want the rig to be overbuilt for the trail. Sure, we got a WK2 through Black Bear Pass, but my ZJ on 35's breezes through a trail like that. The amount of effort and time it takes to get a vehicle like a WK2 through anything even remotely challenging is just too much. I've wheeled with one that has QuadraLift out in Moab a few times too and even small ledges and climbs that I didn't even slow down for in my ZJ were a process to get the WK2 through, and it didn't come out unscathed.
If you're just car camping (honestly what the vast majority of "overlanders" do) than the WK2 should be fine. But for venturing far off the beaten path where you need to depend on your vehicle to get you back to civilization and where a mechanical failure or you getting stuck could have severe consequences, I would MUCH rather have a well built rig designed for that type of stuff. JK's aren't without their faults, but for a new vehicle, dollar for dollar true expedition/overland stuff, you can't beat one.
The WK2 is a great vehicle, as I said I've already owned one, and have contemplated getting another one, but NOT for any type of off-road travel. Incredible on the highway, in the snow, great ride on basic dirt roads, but just doesn't cut it when the going gets rough.