That's us!
We have a 2008 LR3, prior to that a 2001 Disco II. First off, no comparison on comfort, the LR3 is wonderful. We are a family of 3, soon to be 4 and the family dog. With it large tow capacity we regularly tow our 27' camper out to places like Moab, Fruita, Durango, Crested Butte and So California in the winter. We use the camper as a "basecamp" and our LR3 to explore.
As others said the LR3 is incredibly capable right off the lot! All I've added is a large roof rack to carry 6 bike:Wow1: and some other stuff. I also have a hi-lift and shovel mounted on the rack.
The 19" wheels are the only troubling thing, once these tires go I'm changing them out.
You sound a lot like us, just looking for a bit of excitement without damage! The LR3 will easily deliver that stock. For a bit more piece of mind you could also look into the Johnson Rods as a inexpensive way to get a bit more lift. I don't have them personally but people rave about them.
You'll love the LR3 for extended seat time and moderate off road!