Welcome to the forum. I'm new here too. Have my eye on the new 2026 Palisade XRT Pro. Will be giving it a good hard look at the coming 2026 Auto Shows in my area and plan to test drive one soon. The only thing holding me back from what I've seen and read so far is the $50K+ MSRP. Currently driving a 2022 Santa Cruz SEL AWD ($30K vehicle).
Anyway, like you my "overlanding" (if you can really call it that) is (will be) mostly dirt roads and snow. No rock crawling or seriously difficult terrain, but don't want to get stuck and perfer that extra edge of AWD and Limited-Slip. I'm not familiar with how the 2023 Palisade XRT is equipped from the factory, but if it doesn't come with a Limited-Slip rear differential and one can be added, I'd do that and tires.
The new 2026 Palisade XRT Pro has the basics built in: 1" more lift than other trims, reasonable All Terrain tires off the show room floor and Limited-Slip out back; plus you get a little more interior space/length for sleeping and gear. Personally I like having the ability to sleep inside the SUV at rest stops when traveling to a destination. I tow a Yakima Easy Rider Dual Level Kayak/Sport trailer with a Roof Top Tent up top on one side and a stainless steel counter top on the other for my kitchen workspace. This is my trailer.
I tried the RTT over my Santa Cruz truck bed, but found I prefer to not be required to break camp to take the vehicle exploring. Plus I can carry 1 or 2 pedal fishing kayaks on the bottom level (size dependent). Hope to get a Hobie Mirage Lynx in the future (very light weight for this retired 65+ year old and I'm a bay or fresh water lake fisherman, no rough water). Just installed a large platform roof rack on the bottom level for camping gear and Home Depot runs if I give up my versatile Santa Cruz truck bed.
The best thing to do IMHO is get out there and see what you can and can't do. If you are new to "overlanding" or camping with light wheeling to get to remote locations, you will figure out what works best for you by doing what You yourself enjoy the most.
Have fun out there!