Very true, and, I would like to add the following;
What kind of Overlanding do you do? From weekend to always on the off beaten path.
From seriously rock climbing to traveling across a dirt path.
From looking for the next challenge or finding scenery and try to be able to go over a little challenge?
All this will give you an idea what you need.
For instance, I have a Rig, Jeep Liberty, which will be build up for the task in the near future. But, we drove this car to and from Morocco in pure stock form. Just a Roof Rack and some drawers.
Oh and mild AT tyres. Falken Landair AT.
It towed a Trailer all the way. Except for the dunes.
And in Spain it did a good job during the trip through the Bardenas Reales half desert.
So, a big Overland journey in a stock vehicle. Duable? Yes it is.
And see this from Andrew St Pierre White
so, I guess, yes, you can do more as you think with a stock car.