Personally, i have never been to the cliffs, but i hear it's a great area. From what i hear, though, there are alot of obstacles there that can cause body damage, at least compared to badlands. If you are concerned about that, especially for your first run, i would recommend badlands. I have been to badlands two weeks ago and plan on going down again this weekend with Great Lakes Jeep Thing.
Great Lakes Jeep Thing Forums-viewtopic-Badlands Memorial Day Weekend
I went last week to badlands in my stocker TJ and had a blast. got stuck twice, not badly. just due to low ground clearance with stock tires. Did orange trail as well as the quarry and some of the others with little issues. most of the bad obstacles there can be bypassed if you don't think you can make it or would like to make an attempt once or twice before going around. Would definitely recommend badlands, from my experience.
the guys with the club were really surprised with what my little stocker could make it through.