If you still want to go off road, go with firestone bags and daystar cradles with at least an inch of lift from a shackle. This will give you the best of both worlds. The ride is slightly rougher unloaded, but I only keep 5psi when unloaded and I only feel it on large bumps.
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From the research I have done, Mrmachinist is correct. You can still offroad with the bags and it is best to equip them with daystar cradles. I have also heard that people like to run their bags at 5psi when unloaded. Not sure what you mean by an inch from a shackle.
have you done much offroading with the bags? How are they holding up?