I have just the solution for your woes. Simple. Light weight. High and tight. Bolt on in about 20 min so you could drop it off and leave at home when not out on adventures. Solves the departure issue 99% of the time. I combined this with a hitch skid and it worked well. I made this from random leftover stuff I had in my remnant rack. Would probably design a bit different if I were building them for sale, but the basic concept is pretty simple and works well.33s and 13" of clearance have gotten me everywhere I've ever needed or wanted to go, with the departure angle being the limiting factor. But, I wheeled for years in a Subaru with 27" tires, and got good at picking lines. Many of the Broncos, Jeeps, EVs etc rolling around on 37s may never see dirt! Most of the ones around here certainly don't.
Regardless of the clearance problem, approach and departure angles seem to be getting worse as well. Everything was "tucked up" very nicely on the old rigs, but there is only so much room when turbochargers, intercoolers, and batteries start getting added to the mix.
If you want the spare underneath (I do) there needs to be at least roughly 40 inches from the axle to bumper cover. There's only so much you can do from an engineering standpoint to improve departure angle. But I generally find that a durable bumper or skid like this one I had resolves the rear issue. It's very rare that I would ever actually get hung up or stopped by dragging a rear bumper. Just like sliders on the sill plates. I hit them all the time - but it isn't really an issue if they're protected. The approach angle is a lot more problematic for these suvs. Especially the fully plastic treatment they get now and the ever increasing overhangs.
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