I disconnected mine for fun once. It was really 'boaty' on the road..like the rear wouldn't track with the front properly. Offroad the axle would just drop, it was awesome. My brake lines were limiting travel though so I had to reconnect them. Never had a chance at any off camber so can't chime in there, but from my experience I think antirocks front and rear are probably the way to go.

 

Not all of the hardcore rock crawlers have sway bars, but most have winches attached between the frame and the axles to pull down their suspensions. For example, this works for when they are climbing a waterfall and don't want their front suspension to unload, they'll just "suck down" the suspension with the winch. It also works for when they go off camber - they suck down both front and rear a bit to keep the suspension from unloading.

Here's a shot of one: