In 2016, I bought another 100, a stock '04LX, pulled the running boards and installed AT tires, then drove it across the county five days later for HIH6. Just catch the maintenance up.
It sounds like yours, was acquired in much better shape than this one was. The 180 mile drive home, from purchasing our 99, was exciting (not in a good way) due to the condition of the CVs, brakes, ball joints, AHC, diff bushings, rack bushings, etc. While we could just hop into either our 00 LC or 06 LX today, and make the trip just fine, HIHX is an excuse for us to accelerate fixing up our old 99, to make it road worthy.
Our planned list of "off road mods" are pretty much limited to:
CB radio (may throw a ham radio in as well)
285/75R16 tires
Pull the 1 remaining mud flap and re-securing the rear bumper
Replace the factory steps with a set of sliders
Replace the dead/dying AHC, with a mild Tough Dog lift (so I don't get sea sick)
Bolt some recovery points on the front, and stick one in the rear hitch.
May try to bolt an old winch onto a hidden winch mount behind the OE bumper
From what I'm hearing, even some of this might be considered excessive.
If we give the OE bumpers a little more "character" during the trip, so be it. It's not like they're pristine now.
Everything else will be just fixing worn/broken items, or maintenance items.