Pushing It Off Road with a 3-4000 lb Hardtop

You are starting what will become an adventure of compromises. What works well on rough back country roads frequently does not work as well on the paved roads you take get there. A bit of chassis lift will help ground clearance but will raise the vehicle COG and impact road handling. Adding a anti-roll/sway bars will help on the road but will hinder when the going gets rough. What are desirable creature comforts for your partner will conflict with weight considerations you have for rough country travel. And what are appropriate compromises for you and your partner may not be the ones suggested by others, no matter how well-meaning they may be.
I would suggest spending some time at https://www.truckcamperadventure.com/. This site is more oriented towards rough country travel than others.