Never noticed much of a difference in the feel of steel vs alloy myself. It's all about getting the rubber to the surface you're on, and weighing overall 16-20 extra kg is hardly noticeable. if you change offset of the wheel to accommodate a larger/wider tyre then you will notice a change in steering feel and weight in the corners, but this would be the same if you had changed offset and width on an alloy as well. There will be more pressure on your drivetrain as well, so things like axle shafts and uni joints are under a little more threat depending on the driving conditions
Alloy is harder to repair, and it scratches nicely on rocks, but it doesn't bend like steel can. If you're taking wheels to extremes that will bend steel or break an alloy though, you're likely to be breaking other things as well, like CV, uni joints, drive shafts, suspension arms, and the like, and therefore should probably maintain a healthy savings account to compensate for the driving style you adopt.
If your driving is primarily limited to beach driving and lower tyre pressures that ensue, the most important thing is to have something that holds the bead from popping off, which is the territory of bead locks or second air type systems, most suited to steel rims (harder to fit second air to alloy wheels than steel).
I run alloys now because they suit my driving style, fit my tyres, and came with the Jeep. If I were to go 37" muddies I would probably look at steel wheels, most likely bead locks, as I would not be doing highway driving on tyres that size. To each their own though
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