I own an R1S. One of the first quad motors. So I am speaking from experience. Rivian is a great brand and it’s cars meet many needs.
No doubt Rivian was focused on off roading. Ironically, where I live, the R1S has become the main mom-mobile.
I bought the R1S because it was closer to the family SUV I really wanted my X to be. I’ve off roaded in it plenty, camped a bit, but ultimately, I need more every day utility (kind of like a minivan but I drove a minivan for a decade and am EV only at this point), so will add a Gravity to the family.