Bearing can suffer rust only if moisture is introduced into the housing, that can be water that has entered through a wear in the seal/mating surface, rapid changes in climate/temperature, causing condensation to build up inside the housing, the usual stuff. It has nothing to do with off-roading, the frequency of it makes the vehicle more prone to it and even well maintained trucks, with good seals can get water damage in movable areas. You are dealing with a rather hot housing, entering a cold water stream. That causes both a rapid temperature change as well as a pressure change. Even with the differential venting properly it can still be affected. Add to that moving parts that can actually suck water by the rotation alone, a single bead of sand can get into the hub and fit between the seal and spindle and cause enough damage and let water in. So wheeling causes additional wear, and possibility of rust, and in turn the rust scoring the metal, even in situations where everything is nice and tight.
Full floaters are no more prone to it thatn semi-floating axles, all have the same moving components and each is designed with seals in appropriate places so minimize external influences.