What Slunnie says regarding the rear end and tying it down to a degree is pretty true.
If one end isn't working, stiffen the roll resistance, either with spring or bar (or restricting travel) at the other end and it forces the opposite end to work.
Ideally you want to soften the end that isn't working, but that can be an engineering challenge, so I think that balance is often a better compromise.
It's amazing how a 130 front end will work if you ditch the anti-roll bars due to the stiff rear end. With stock springs front and rear and stock ARB's, the suspension is pretty balanced (in rough terms of roll resistance and articulation), and was far more comfortable off road than our Patrol.
Yet taking the ARB's off lets the front end flex a lot more, particularly with the longer springs and shocks, but you tend to get thrown around more violently on very uneven ground, but obviously articulation and ultimately traction is much better.
I still want to try slightly longer-softer main springs in the back of the 130 with air bags interlinked with a solenoid valve between the bags that I can open off road.
The most comfortable stock 4wd at crawl speeds I ever drove off road was my old Jeep CJ6.
It used a narrow, parallel railed chassis with underslung leaf springs with identical spring rates front and rear. The distance between the springs was very narrow and the same front and rear and the damn thing had fearsome body roll on road, but the chassis stayed nice and level off road with the front and rear axles just articulating up and down underneath you, as long as you were within the limits of travel.
I love the shots here Bill's LRs - LR4x4 - The Land Rover Forum of Bill Larman's vehicle, and it uses dislocation, but it also uses narrow based springs to achieve it.

