I honestly think the urban environment is just as likely to bend the frame as off road. Remember, jumping the truck doesn't hurt the frame (though with a blown shock, that changes a bit) its the unexpected bump that does. Like a speed bump you don't notice, or pot hole that can get you. Living in New Orleans, we have worse roads than Mexico (not exaggerating) and find I cringe in town more than off road b/c off road you expect it, and are constantly looking out for it.
I'm going to have to *strongly* disagree with this. You'd see a ton of F-150s failing if this were the case. This problem is essentially Raptor-specific because only Raptor owners would even consider subjecting their trucks to the challenges that can bend their frames.
From 1999 to 2010 I owned GM full-size 4wd pickups (four of the previous body style, i.e., 1999-2006). Good trucks IMO, but the frame is a wet noodle compared to the 2009+ F-150. Boxed only in front, C-channel midsection, and fully open in the rear. I never heard of one of those bending on- or off- road in any non-abusive condition (and I was always on GM forums).
Unless you're inventing "truck trials", I don't think you're going to find a way to fail a Raptor
(or any fullsize pickup) in an urban environment.
The problem is simply that the Raptor can go fast enough to hurt itself. It concerns me enough though that I think I'll be doing an RPG or ORP kit with Fox airbumps.