see tfl atlas pathfinder comparison, stage 3 I think is the limit of Atlas,
you cannot ask more for this 4wd setup, it's okay to handle normal snow
weather with snow mode.
It's not designed for serious(even mid level) offroading, so do Q7 and
Touraeg, even they have torsen, since non-lockable torsen's capa is still
limited, may be as not good as a well-adjusted high torque capacity clutch
pack based central diff, which can be locked for a relatively long period of
time.