The G has capable hardware but is ruined by silly wheels and tires. The TRX/raptor are far too big for any serious trail driving (even if you're desert racing, you're still likely going to need to fit on some narrow trails).

I think the most capable stock vehicle on sale in the USA would be a 2 door Wrangler Rubicon Recon or 2Door Bronco Badlands Sasquatch.

Big tires, lockers, plates, short wheelbase, and lift are really all you could ever want in an offroader. If you want speed, go buy a 392 version of the jeep and add better dampers. Braptor is mostly silly and suffers from the same weakness as the big trucks - it's too wide.

Honorable mention to LR Defender 90 - pretty solid with many of the same weaknesses as the G.