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From my point of view, the Mercedes-Benz G-class takes the 1st place, because all of its front/center/rear differentials are mechanically lockable.
But if you are also considering reliability, Toyota Sequoia/Land Cruiser, and the Lexus LX570 are the most balanced choices.
For the full-size SUVs, I will pick LX 570 who has the best 4WD performance. Or let's put it on this way, Lexus has the best 4WD technology among all the SUV manufactures.