Hopefully some more people will rock up with ideas as well, but here's a few options -
Depending on what you do with your ute when you're on-road, loads you carry, what you tow etc, you could get a set of springs custom shaped for anywhere between 0-3" of lift depending on what you want, but with a really low spring rate, so they'll be really soft without the arse end sagging when empty... Of course if you carry loads then that's no good.
The $0 version of that is to replace the override leaves with spacers, I've trialed that before and it softens the rear end a lot but is shit for carrying loads. See the below image. I changed back because I carry loads.
Depending on how committed you are, you can remove the rear shocks every time you go wheeling.
You can also remove the anti-sway bar from the front permanently.
A more extreme option is to weld in a Terrano five link coil rear end. That rear end flexes very well and the geometry has all the quality of a factory item. You need a chassis half cut like this one: