HOSS 3.0 FOXs are not electronic or adjustable or anything. They can't and don't change with goat modes. Only the FOX HOSS 4.0 on Raptors can change "settings".
You likely had your front sway bar disconnect with rock crawl mode which is what you felt.
I have been off roading a 5th gen 4runner on 34s for 7 years and recently got a sasquatch. For most intents and purposes I would say the modified 4runner is better on trail than a stock sasquatch. The bronco certainly drags and hits more often underneath.
The bronco certainly has more...
Very near Estes I would recommend T-33 Plane crash and Ironclads which are spurs off of Bunce School Road. There's a short hike to the actual jet crash remains including the turbine engine which is very cool.
Thought my HOSS 3.0 was pretty decent, sometimes felt weird over speed bumps though and a little on the firm side. Removed it, sold for two grand and put the Readylift kit on. Drives significantly better than the factory Foxes now.