Your experience is not uncommon and like you have discovered the newer engines are pretty well managed from the factory. The trucks are very heavy and so even adding 100 horse isn't really even enough to satisfy most people looking for more power.
You can go with a huge cam but then you will have other sacrifices, same goes for high compression heads or a stroked engine. Again, the factory squeezed about as much from the hard parts as possible. Cams and heads are really for dedicated light weight racing vehicles and after building MANY engines and vehicles I feel confident in that opinion.
There are minimal differences in these engines across the entire LS family, the vehicle's weight being the major factor in how fast they usually are. Unfortunately the SUVs are at the upper end of that spectrum and require quite a lot of power to get to move.
My advice to all new vehicle owners is to boost your stock engine, keep all your factory reliability and driveability as it is now but when you hit the gas the truck will actually get out of its own way. Install is quick and minimally invasive and few parts are removed, reducing installer potential error and callbacks.
I have built many head/cam trucks but the ones that really benefit are short cab short bed sport trucks. SUVs need boost and after you drive one with it you will never want to go back. There is nothing short of a LOT more displacement that will get you acceleration/power/performance like that.
Basically it boils down to spending thousands in hard parts and thousands more in labor chasing down a few horsepower here and there with a lot of effort OR a few thousand on a blower and a few hundred installed and you've added 50% more power pretty much everywhere. There are a few people building upgraded 6 speeds as well, definitely something to consider even on a stock engine if you will drive it hard. A nice custom torque converter is also suggested and even if you kept the entire truck stock a converter will still really help your launch.
Remember once you have converted to a boosted setup your power ceiling is virtually unlimited. You can then actually maximize each link of your driveline and as you upgrade parts you can easily increase the power.
I hope this information helps even if it isn't what you were hoping to hear. As always feel free to call at any time. 508.320.6807
MJE