With a good driver I would say the following vehicles could make it through the rubicon based on what I have heard and seen (videos/Pics):
H1
H2
H3
Tacoma TRD
FJ Crusier (with DL and/or Atrac Options)
LandCrusier 80 Series (like the one Moon posted...but stock)
Xterra (05+ Offroad Addition)
Wrangler Rubicon
S10 Zr2 (with me behind the wheel)
Blazer Zr2 (with real tires...and me behind the wheel)
D90
Range Rover
ok...this list is getting too long...you get the point. I honestly believe that any Stock Truck in the >30" tire class, and a locker could do the Rubicon with a good driver.
As far as On-Road/Off-Road Creature Comforts...more or less just compare prices and you can tell which ones are more comfortable on road. Call $35k the comfy cut off. >$35k is probably posh. <$35k is not.
Just my unbiased (believe it or not) .02
