I will wade into this swamp. First, let me say that I have a 6.1 Hemi Wrangler on 39" tires, a Turbo S RZR on 35" tires and a 19 stock Raptor. I have been wheeling off road for over 20 years and currently spend almost 6 months each year in Moab. I plan to buy two Broncos, one 2 door Badlands SAS and put 37s on it, and the Raptor version and put at least 37s on it, maybe 39s. I probably will replace the Jeep and Raptor with them.
I have heard of the "articulation" story for years, and bought into it. My Jeep has the EVO desert racing rear and when articulated the top of the rear wheel is below the frame. I have gone across the Golden Crack without lifting a wheel. However, I much prefer wheeling with my RZR which does not have a solid front axle. Yes, occasionally I lift a wheel, but it still climbs. No, I don't do Pritchet Canyon with it, but do most every thing else. I can do most trails 3 times faster than in a Jeep. Sure it is apples to oranges, but I guarantee my Bronco will beat a Jeep on all but the most difficult trails rated 4.5 and higher. So if that is what you want to do, get a Jeep. Other wise get a Bronco with independent suspension.
Unfortunately until I get my Bronco I cannot comment on the lift. I had a 2015 2 door Jeep with only a 2 inch lift and put 37s on it, and wheeled it off road. My understanding that with a Bronco SAS and a 1 inch lift you can put 37s on it and I believe Ford is going to offer a 1" lift. Whether it will rub, I do not know, but if it does we can trim the body a little and even the frame if needed.
My 2 cents, and that is all it is worth.