So many people underestimate what stock-like Jeeps can do. I've wheeled them with 30" and 31" tires in some very difficult terrain and, as you said, there are very few places they can't go that a rig on 33" tires can. Teaching your kids about maintaining a vehicle, coupled with off-road driving techniques are valuable lessons they'll never forget.
I'd argue that driving a Jeep on smaller tires is more fun than driving one on larger tires. You need to listen to others, concentrate, and learn the consequences of not picking the correct lines. You sir are a fortunate man to be blessed with two Sons that share a passion with their Father. You would think this is common, but it's not as common today as it should be!