Well, then you have not looked far. Believe me, I love the FF design. It's super badass and cool, however in the microworld of Norcal wheeling, I have seen far more problems with the FF design especially on FJ40s.
One individual alone, I have seen him break both shafts at once, then break one of the replacements, then shear all of the studs several times. He runs with the FF and a detroit in the back, and I personally think the detroit is at the root of the problems. The shock loading when it unlocks just destroys the hub studs and pins, and shears the axles at the side gears, even when everything is tight and well cared for.
Anyway, when it's time to upgrade, in general, it's worthwhile really upgrading. American junk yard parts like 14 bolts are better in basically every way, and that's the route to go.
Given the choice between Toyota FF and Semi-float, I'd of course take the FF, but I wouldn't bother to upgrade and existing semifloat. I've broken 1 semifloat axle in 10+ years of Rubicon Trail use, and it broke in the splines where a FF would have broken as well. The one advantage is that a trail repair is somewhat easier in a FF, but then why not run an axle like a D70 or 14B where a trail repair will never be needed?