IMO, people are putting too much focus on "rock crawling". They've shown videos of R1Ts going on some decent trails. and the IRS should be decent for higher-speed desert running.... But it's never going to be a Jeep with solid axles. It's an ADVENTURE vehicle -- not a rock crawler. I expect the Rivian will be more than capable on all but the most extreme trails. If you see people needing $50k of off-road mods to go a particular route, then I'd just not take my Rivian there, personally.
As someone who will be taking their Rivian off road I am not expecting it to be a crawler or hitting any rock gardens with it. But I do expect it to be able to overland into some back country where 35" tires and the 14" ground clearance should be more than enough to get me where I want.
But isn't that what the Kinetic system will take care of? Motor Trend wrote an article about Tenneco's system going into Rivans a while back, has that changed?
"At either end of the battery are the suspension and powertrain. Control arms are employed up front, and a five-link setup is found in the rear, with standard air suspension and a Tenneco Kinetic interlinked hydraulic damper system that negates the need for anti-roll bars. There are four electric motors and four single-speed gearboxes, two of each in front and rear. The motors and their transmissions are mounted sideways in the chassis, with the motors pointing inward and the transmissions sharing a common case but no moving parts. The front motors and transmissions sit behind the front axle, and the rear motors and transmissions sit ahead of the rear axle to keep the weight as central as possible."