Concisely put!Crossed-axle articulation (within reason) is a critical component of traction and vehicle stability off-highway. The function/benefit of an anti-swaybar is only realized at speed.
A vehicle with limited articulation (think X5 as an extreme example) will be inherently less stable and more likely to lose control or roll on the trail, for the specific reason that once an axle has reached its travel limit, that corner will unload, then lift, causing the vehicle to shift weight and stability without the benefit of damping. The G-Wagen is inherently less stable than a Land Rover for this reason. Once at the limits of articulation travel, the vehicle lacks the damping effect of shock stroke and the stabilizing and ground pressure effect of sprung axle movement.
Axle differential locks are the Gs greatest strength. Its lack of articulation is its greatest weakness.
This is not to say that axle articulation is the ultimate attribute, it is just a factor, but one that must be understood and capitalized on. There are limits to the positive effects of axle articulation, as ground pressure is key to traction and uncoupled-excessive droop will create other problems with spring retention, axle-steer, etc.