I've wrestled with this question myself, but I find I've become rather addicted to the benefits of AHC. So much so that it's a thing holding me back from buying a GX550 (that and the tailgate

).
AHC rides better on-road and makes towing a pleasure (lower and lift the vehicle rather than the trailer, automatic leveling). Off-road I can run rough dirt/rock roads at high speed with Baja-like comfort. I can duck under low branches or increase my clearance and (slightly compromised) approach/departure/breakover angles when needed. When I miscalculate and high-center, I have a margin for self-recovery with the reserve lift mode.
The 18/25 mph speed limitation (H vs L range) can be annoying, but it's still 1" over normal when in LR, and who really needs extra clearance when going that fast?
All said, AHC enables the rare and incredible feat of serving as my very comfortable daily driver that transforms into an incredibly capable off-road vehicle on the weekends that'll outdo most of the 4x4s out there.
As for maintenance, I do my own AHC maintenance and don't find it intimidating. I'm about to replace my shocks and accumulators. I can't say I'd ever attempt a DIY 3-5" aftermarket lift because of all the geometry tuning needed to get it right.
That said, I agree with the others that there are pros and cons to each. For hard-core long-travel rock crawling applications or super-remote expeditions you probably need to go aftermarket, but for just about everything else, a well maintained AHC is all you need.