It sounds like your aunt probably maintained it well.
If you haven’t done a drain and fill on the transmission fluid, then you should consider doing it. It’s not a maintenance item because it’s supposed to be a sealed system with lifetime fluid, but even toyota dealers recommend changing it. I changed mine recently at around 130k for first time.
Here’s my recommendation if you want to lift on a not super expensive path:
1. Get coilovers for the front and lift front like 2.5”. I have Bilstein 6112s but there are a lot of options in varying prices.
2. Do the air bag trick on rear using a spacer to lift rear to level with front lift. Delay rear conversion to springs when you are ready or when bags fail.
3. Get skinny tall tires like 255/75/17 tires on your stock oem rims including spare. These are like 32”x10” tires, so you have to like the skinny tire concept. Stock tires are about 30.6” tall by 10.4” wide, so you are getting close to 1.5” taller tires depending on brand of tire.
4. Remove the running boards to give you more clearance if you need it when off-roading. install rock sliders when you are ready to protect the rocker panels. For me, this is needed because I always get in over my head when off-roading and invariably I can damage running boards and/or rocker panels. So, sliders are my must armor.
That’s what I would do to start on the cheap. It’s a less costly path to be more capable and look cool.