Besides the H1 it's my opinion that the H2 is the most capable machine you can drive off a dealership lot stock
My opinion would be a Jeep. The rubicon is nice, but I'd rather build up a stock wrangler for less $$$.
I drive a jeep, and I do alot of wheeling. I've been surprised numerous times where a stock YJ can get you if you try. I run with my brother's bronco club alot as well, those things surprise the hell out of me also.
Jeeps are great if you don't plan to carry too much cargo or passengers. I can carry 1 passenger and all the tools, supplies, parts I'll need. But I can't carry anything else. Thats where a fullsize comes in handy.
IMO if you plan on doing any serious wheeling you need something with a solid front axle. Most of the guys I know with IFS trucks are wanting to swap in a soild front.
If you mostly drive around town and only do light wheeling IFS is OK.
In all a Jeep is a far more capable off road vehicle than a H2. However, cargo space is limiited and road manners are lacking.
Its also better to have a beater for offroading. If it dosen't get banged up, beat up, scratched up then you need to find harder trails. I also haven't seen too many guys with nice new trucks willing put them at risk.
I've seen all kinds of crazy things on trails around here, including an 84 mustang on 38's. But I've never seen a H2 or other brand new shiny truck. Though I have seen quite a few new jeeps getting broken in the hard way.