For offroading, a well built, triple locked 80 is a beast. For more extreme offroading, that would be my choice. My 62 does pretty well too. I'll probably put a 5.3 chevy in an 80 at some point that I will beat the shit out of, but waiting for my 3FE on my 62 (or the 4sp) to die so it can get a 6.0 LS swap first.
Though my 200 would probably do most anything an 80 would, and the power is great. I daily drive my 62, and love it, bit wouldn't want to take it on a road trip. Not as quiet or as comfortable as my 200, but it does great and so far, at 250k miles still runs great. My FJ40 only sees basic trail duty these days, and it is now up for sale.
I am happy to take a 200 anywhere, but know a SFA is less likely to have trail failure, particularly a locked IFS, even if you are careful and judicious. I have thankfully never broken a joint while locked, but have broken cvs offroading (not in the 200 knock on wood), but thankfully had a spare.
If I could get a brand new 96/97 setup FJ80, that would be my choice for an offroad rig.
The articulation #s on the grenadier were good but not amazing, but may be really good with sway bar removal or a disconnect. Hopefully someone will test it soon. Also hoping to see what max tire size is with no lift.