The past decade or so has been tough for off-road adventure vehicles. Many were discontinued, while others were resurrected or redesigned as on-road–oriented crossovers. But the winds are shifting yet again, and automakers are rediscovering the fun and excitement of pavement-free adventure.

So for our Motor1.com 2021 Star Awards, we thought it prudent to invite two of our most highly rated rugged vehicles from this year: the Ford Bronco and the Ram 1500 TRX. Both of these hotly anticipated off-roaders scored well in our initial testing, and we decided to round them up in one place to compete for the title of Best Adventure Vehicle. While the Bronco and TRX have wildly different missions, there’s no denying that both are capable of getting a group of friends out into the wild for camping, outdoor activities, and some much-needed R&R.

After a few days of off-roading (with some highway and country lane action peppered in), we tallied our votes. The result was nearly unanimous: Although the exhaust note and mean attitude of the Ram TRX was compelling, it was the retro-modern Bronco that took away the honors. How did the Blue Oval’s heritage-steeped off-roader manage to topple a 702-horsepower pickup? Through a charming personality and accessible off-road performance.