A bit more complicated than that, but generally true. KDSS limits articulated travel even more than std sways over 12mph. Below 12mph it will allow for more articulated travel than a stock swaybar setup, but obviously trucks without swaybars or swaybar disconnects have more articulated travel than KDSS.
Swaybars don't really limit travel in a very static way (like a shock or control arm would). They dynamically impact spring rates and thus the reason it can feel pretty wonky at speed off-road with a stiff sway-bar. The actual travel numbers are technically the same, but it may take more force to get one at those numbers vs the other.
Been stated a million times, but KDSS has pros and cons. Mostly pros, but there are use cases that it is not the best for.
The baja argument is pretty crazy IMHO. It is simply not intended for that.. it was put on a truck to test reliability and nobody in their right mind would run KDSS (as implemented on the 5th gen) on a purpose built baja truck.
If you like KDSS... fantastic, if you don't fantastic. No right answer, just preferences based on primary use case.