I'vebeen off for 2 days and all this happens....
I would look at weighing a budget to fit your requirements. You need to decide to pro/con on every aspect of your needs that you can identify. Make a table, use a priority system and go from there. Many do it in their head based on their local terrain, obstacles that conquered them rather them conquering the obstacle, money they have free to spend (or not!), peer pressure - even from these lists, and the list can go on and on.
There are ways of meeting both exploration as well as crawling aspects of a vehicle. Take a look at many of the vehicles over the web (like you haven't done that already). They are modified slightly to increase the capability but not overly done for one single purpose. Mainly to keep them street legal but also to meet certain criteria from the owner.
I take on maybe 5-10% of what I consider hardcore wheeling with my 2.5/auto TJ on 35s. I've got stock skids to protect the underside. And this hardcore is taking its toll on the belly skid. I tend not to go wheeling out on my own. I go somewhat prepared for the trail, time wheeling, weather, and who is riding with me (kids or no kids). I use my winch as necessary.
I do have a lot of heavy equipment I can throw into a build, but I'm just fine using bolt-on stuff for my TJ. I've got a totally rebuild Ford D60R that all it needs is a r&p, (Detroit, shafts/spares, lockouts, bearings, kingpins, brakes are all new), custom Alcan leafs with the orbital eye (for another project years ago which I never completed), Klunev/205 (Ford application), Sterling 10.25 with ARB waiting for r&p to match front, Duff radius arms with a heim as large as my palm, 4.3l/4L60 complete with everything even cruise, and I have a few more items specifically just for the TJ. The big items I've had sitting in the garage before I even bought my TJ 6 yrs ago. The cost to complete the install, getting tires and wheels, more lift, will amount to too much upfront money. The 35s' are very cost effective for my application as well as all the bolt-on stuff I've added over the years.
If anything, maintain your current setup. If you want to do something different, explore another vehicle and use that as a building platform. This will in turn be a very cost effective option in the long run (5-7 yrs). I've been through a lot of 4wd vehicles. Each has their pros/cons to their function. A lot of them use the bolt-on system very effectively. Some work does require specialty of material and welding.
Take a VW Bug platform and build a 2wd street buggy. Then add a Vanagan 4wd system to it. That can be your tube buggy.....A friend is building a buggy as a single seater from tubing, but using a 3cyl Metro/auto trans (no tcase) as a mid-engine layout with Sami axles and 31's. It should be about the wheelbase of a Sami and weigh about 1400#s it that. Just ideas for a specific rock runner.