Nice, firm ride on road. I read a comment like that in one of the mags, like JP or Offroad, and I agree with it. I have not driven a vehicle equipped with Bilsteins, so I can't tell you whether Bilstein is firmer than Rancho. Some people find Bilsteins too firm, but most like them.
Rancho claims that the 7000s have 10-stage digressive valving, so they won't shake you up off road, and I've enjoyed them both on and off road.
When I was in the market, I was not able to find a gas-charge spec for the Ranchos, but I think Monroe Reflex monotubes are in the 220-240 psi ball park. That would appear to place Monroe monotubes above non-monotube shocks. By contrast, Bilsteins are at 360 psi. Monroe/Tenneco does provide good fitment specs for its brands, including Rancho, so I bought the ones that appear to be a good fit for my stockish set-up.
I called Skyjacker, and they were not able to give me a gas-charge spec for their monotubes (they might consider it proprietary).
Rancho's website also claims one of the 7000's benefits is "reduced road harshness," so consider the possibility that they might not be as firm as Bilstein.