In regards to the TFL video comparison between the two Defenders and Gladiator, note that they are all modified for this rockhopping adventure. The '94 Deefer had a 3" lift with bigger than stock tyres, ie. usual mods for any live axle vehicle, as was the Gladiator. The new Defender with IFS and IRS is also modded with bigger tyres, but by using Johnson rods to create the lift, which really limit the amount of downward wheel travel when the bags are fully inflated. I think the new Defender would probably make a better showing by doing the same test again without the rods and just putting 35's on it (and eDiff), as it was designed to take 35's at a pinch just in case someone wanted to fit them (although not recommended). Either that or fit the "J Auston Fabrication" lift kits when they become available to allow fitment of bigger tyres, for the really silly stuff.
6inch lift kit avail for D5! 35's Anyone?

