I'm an ex Jeep mechanic for a well know Jeep fabricator. I've also owned a TJ wrangler with an 8.8 rear, superior front, 35" tsl's, chopped fenders, locked, etc. I used it strictly for off road and push it to its limits every time, often past its limits. I've been between rocks replacing upper and lower ball joints on the trail after ripping the spindle off of the axle (HP D30 was the biggest weakness).
I could not be happier to be in my 100 series. Being a Jeep mechanic is why I drive toyotas. My 100 won't do half of the fender bashing trails my Jeep did, but I'm into that anymore. One thing my 100 will do is take me pretty much anywhere I want it to. Each time I take it off road, it totally blows me away with how capable it is.
Not only is it amazingly capable, I can carry all my gear, 2 big dogs, and still have room for rear seat passengers to tag along.
Also, I read in the past the the 100, with the ifs has a better RTI than a ZJ with its solid front axle. I'm not certain that is fact, but it wouldn't surprise me one bit.