The Bilsteins are more firm than stock. They will not bounce (you will only feel a bump one time) so the ride is much more controlled. There is a lot less body roll from abrupt steering input or heavy braking, etc. The chassis stays more settled going around corners while hitting expansions joints or potholes. The ride is not rough, just firm.
Basically it is the same thing off road, I'm not sure how to explain it other than saying that they are more firm and the ride is much more controlled. The suspension will not bottom as easily. If the torsion bars are cranked a lot, the front is still going to top out but that's the nature of cranking the torsion bars. If you are spending some time offroad for the weekend, the ride is awesome with the Bilsteins and the sway bars disconnected.
2006 F150 FX4 Super Crew - Bilstien 5100s leveled 2", 35" KM2s, 4.56 gears, Detroit locker, Eaton E-Locker, Traction Bars, AEM intake, Xcal 2
2010 VW Golf TDI 6MT