I've only used the rear diff once in our Taco, other than fooling around testing it, right here in the Slate Range (blue dot):
https://caltopo.com/m/L021
It was pucker-factor steep (for me), and I had my wife walk to the top to check it out. Slipping sideways, either right or left, was not an option.
We also have the cruise mode stuff and have played with it a little on very rocky terrain which works ok. But haven't really absolutely needed it. It sure makes a lot of noise! But somehow it gets you through some nasty stuff relatively smoothly. There's another mode that I forget the name of, which we've never used other than testing.
JHanson, you said "
you don't go down to 20 psi in a garden of sharp rocks", but I've read tires go over sharp stuff better at low pressures. Can you explain?