My cherokee did Badlands, Roush Creek, Paragon, Moab, sand dunes in New Mexico, just about everything.
Bought it at 90k and was completely used up by 150k with a three inch lift and 31 inch tires.
Bent both tubes of the rear axle, cracked the output of the transfercase. Wasted both front unit bearings and the associated front brake parts.
Biggest thing is I wasted the unibody. It would flex so bad you could not open the doors in off camber situations and it finally came to the point where the radiator would flex into the engine fan (!).
But, the motor and trans worked like a champ! I took the lift off, dropped in another rear, and sold it to someone that would be a little nicer to her and last I knew it had 220+k miles on it.
Bottom line: Stock, and mild wheeling, they last forever. Heavier tires and a lift start wearing on them unless you add in a bunch or reinforcements. My dad's still looks new after 120k miles - stock tires and mild offroading..