I've modded many vehicles. Mostly with little money on very used cars, so results were a mixture of hits and misses.Everything is a compromise. Usually off road performance as at the expense of on road performance. Any change is going to be different. Maybe better, worse, or just different than factory. Many people go through a couple of changes before they find what they are looking for.
I would say if factory ride is the most important, I wouldn't change it until you need to. I started changing things because I was always lifting a rear tire. I've done several things to increase articulation, but it's at the expense of on road performance. Now, my highway ride at 75mph is still good, it's just different. I still need my vehicle to make long cross country trips and then perform off road once I get where I'm going. It's all a compromise.
The Icons, or any other coilovers, probably won't feel like the factory setup, but that's not necessarily a bad thing.
If factory ride but increased rear movement is your focus, I'd start with the upper and lower rear trailing arms and rear track bar. The factory hard rubber bushings don't allow much movement. Replacing with uniballs, johnny joints, etc. will allow the axle to move quit a bit more but still maintain the factory coilovers.
Maintaining factory ride is not my goal. I think it can be improved while maintaining the composure of the chassis.
I have a '21 Badlands Sasquatch Lux (heavy) with a fridge in the back and soon a winch up front.
From the factory (even before the fridge) I feel it's a bit harsh with fast transitions, e.g. speed bump / pot hole. The back end gets unsettled. Noticeable when cornering at speed, the back end likes to hop out.
It does well on gradual whoops, as long as you don't increase speed and turn them into washboards. Also the interstate comfort is great. But this leaves a lot of body roll and dive when driving the paved back roads hard.
I was able to push it hard on a well maintained gravel forest road (40mph to 60+mph) in Baja mode (should be called Rally mode). 4H no lockers. No washboards, nice whoops, a little air, and some decent rotation from the rear around the corners. I don't recall it being too harsh and less friction from the gravel vs asphalt let the Bronco slide a bit and lessen the feeling of body roll. I was very impressed.
I did hit a RR track at speed. Was disappointed in the landing impact. I didn't think I was going too fast for the suspension, but it's been many years since I've regularly jumped RR crossings and bridges. My internal calibration is probably off.
I know I have many competing desires; one of the reasons the Icon CDEV is on the top of my list to try.
I know the Bronco won't turn the same numbers on the track as the C4 corvette I used to own with all poly bushings, re-valved Bilstein selectable shocks, lowered with scrap polyethylene spacers from a friends shop, and max negative camber, but that doesn't mean it can't be as fun when pushing it hard, just slower.
And yes, slow speed off road the rear tire lifts to quickly. We need as much articulation in the rear as possible to make up for the IFS. And with all the low hanging parts, it needs at least another inch of clearance. The Icon stage 8 kit comes with rear arms and track bar, that is the one I'm looking at.
If the Bronco Raptor wasn't so wide I would probably just get one.
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