I've taken mine all over Moab, run the Rubicon, blasted down a lot of dirt roads at high speed, and put a lot of regular daily driver miles on it too. KDSS works great for me. I view it more as a highway benefit than offroad. Mine is a '15 Trail Premium with Fox 2.5 coilovers up front and Fox 2.0 rears with 2" lift. I have also run GX460 rear air suspension in a custom configuration in the rear but removed due to issues with dampening and a few other things. I still have the whole gx suspension that I may put back in at some point, but I've been ridiculously busy this past year.
My only issue with KDSS is that it does effectively increase spring rates for individual corner bumps - mid speed bumps on rough trails at 15-20mph are rougher than it would be without it. In a perfect world KDSS would be paired up with an additional disconnect function for those conditions. In slow speed it's better than a disconnect - it actively manages body sway. You can watch the youtube videos of a side by side. It's a significant improvement in the rocks.
But ultimately it's a daily driver. And highway handling is where KDSS really shines. Why it's not standard on a limited I have no idea. I would have bought a limited if it were an option. Just my .02. I wish we had the more complex KDSS from the LC200, but it works great on the 4runner for improving highway manners.