There is a balance there and it depends a lot on what type of mud you are dealing with. I have never got "staying on top" to work worth a crap, it just makes recovery easier. Being able to dig some but not too much seems to work about the best.
It is kind of disgusting but for all the work I have put into my Ranger, my basically stock F-150 with similar sized tires will outdo it. On the other hand it is kinda nice because whatever the Ranger gets itself into the '150 can get it back out if it will fit.
Grille guard, rollbar, driver (270lb), fuel, receiver hitch, drop in bedliner, dual exhaust, Ex 8.8, 31" MT's. I call the V8 a wash because the C5 is far lighter than the A4LD.
Both weights are with me in it and a full tank of gas. If you are comparing to the weights given by Ford they are both quite a bit over. I think Ford gave a weight somewhere in the upper 4k's for the '150.