I don't think the R1S and the F-150 should be compared because, on account of being registered as a commercial vehicle, the F-150 has noticeably higher operating costs.
my buddy sent me a video of him crawling some seriously sketchy trails in an R1T, I wouldn't describe those trucks as being "pavement princesses" or whatever
That's the point of the term pavement princess. They can be used in the way you describe. What makes them pavement princesses is that they aren't used in that way.
I guess Mach-E beats even the R1S but they're not really the same kind of car. Ioniq 5 beats Mach E in CA, as does the MY.