It's a compromise, and always has been.
Big balloon gumbo monster mudders have godawful sidewall flex when cornering on pavement, and you really benefit from that super high center of gravity, too (not). Talk about getting seasick just leaving one's driveway!
I doubt anybody's going to do a Rubicon Rock Crawl with low profile 22" rims and super-sticky unidirectional Pirellis, either.
The several FJ Cruisers I've test-driven to date have all been quite impressive in their cornering and handling - almost sports car in quality.
That shouldn't surprise me. Since most 4WD vehicles in these United States see more on-road than off-road use, they're usually set up for comfort and stability when driving on pavement to the mall, etc.
Unless of course you're Tallpine.
Then you rip the differentials out and replace them with spools (like I did so many years ago with my pro-stock dragster), and weld the transfer case lever into 4WD LO to go get mail, groceries, and visit Hawkmoon downwind to discuss the non-merits of the latest automotive technologies over the last 50 years.