For highway travel in an RV, there's not much downside to higher spring rate transfer in my view. The sway bar compromise is when traversing uneven surfaces just as the wiki quote states. For traveling uneven dirt roads a disconnect would yield the best ride and eliminate spring rate transfer induced sway or "waddling" as in that wiki quote.
Why does a stiffer sway bar help highway handling? Here's a shot at trying to explain my observations for independent front suspensions: Wheels change their steering geometry as they travel up or down from center alignment |-| (both toe and camber). If you observe full droop or extension causing wheels to point like this /-\ toe (top down view) and camber \-/ (horizontal view). Full compressed goes the opposite for each toe and camber. With sway, one side is compress and the other is extended so consider the front wheels slightly shifting \-\ or/and /-/ as sway finally settles back to center |-|. Adding spring rate transfer reduces sway and in doing so it also reduces uneven suspension travel so there's less apposing steering geometry changes (win win for highway travel).
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Axis 24.2 "was" tug'n a JK
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