That is something you might have to figger out youself just because I can't say where you can or can not go because I have not seen the trails you are on. I will say though that a bumber pull tracks a lot better than a 5th wheel. Since the hitch is on the very end of the truck, the pivot point is futher back. So when you turn, the trucks rear end slightly pivots the opposite direction of the front of the truck, allowing the front of the trailer to make a slightly wider turn. So the end result is the wheels on the trailer track the wheels of the truck much better.
Since the pivot of a 5th wheel is directly over the rear tires of the ruck, you don't get the same effect. What happens is the truck pulls the nose of the trailer around and shortens the turn for the trailer. So on sharp angle turns you have to make wider turns with a 5er so you don't cut the corner.
As well, bumper pulls have better articulation when dealing with ruts and bumps. You don't have that with a 5th wheel. So if you want the go on trail where the truck and trailer pivot a lot you need to get a 4-way pivoting hitch so you can pivot up and down as well as right and left. Also, you have the worry about no pinching the trailer and the bed of the truck. Not an issue with a bumper pull.
The reason we ended up with the 5th wheel is because of the highway travel to get there. They really drive much better. Sometime I forget I have it hooked up. No lie. I always knew when I was hooked up to my bumper pull trailers because they alway threw the back end of my truck around.
Your question of which is better is almost as difficult as which can first, the chicken or the egg. While both work great, you have to figger out which one is best for your sittuation. The one thing I would say is I would really think about going 4 inches with the lift instead of 6. That is the only thing I would have done different. Good Luck
02 F250 SD Diesel 4x4, 6.5 lift, Banks ex, K&N, Edge progrmr