Can You "Overland" in a Day? 

I used to do the same thing, if it wasn't a major outing (overnight, all day long hike, etc) I wouldn't go anywhere. Then the weeks start going by having done nothing thinking of all the wasted time. Now, like you said, even if it's jumping in the Gladiator for some unplanned half a day exploration (and doesn't even have to be offroad), a short hike close to home, a quick ride on the fat tire e-bike.......not everything has to be a grand expedition. And some of those impromptu outings turn out to be some of the best. There's just too much to enjoy and too little time to sit around waiting for the perfect time or place, you just need to get out. Also, I mentioned before about not being happy with my Gladiator with lots of little issues like you and considering a 1-2 yr old GX as well. 7,500 miles and had my first bout of death wobble on the highway a few days ago. Another thing to add to the list and have never been so disappointed in a brand new vehicle. Problem now is they're heavily discounting new Gladiators and trade in/resale values have really tanked.

Good find on the trail! It’s amazing to me how much fun you can have in a basically stock but capable vehicle to have adventures such as this.