I have used 5100s and stock fj or 4r springs. Soft, floaty and when we carpool with a 100lb kid in the very back we hit bump stops.
My options:
1) replace coils with Better product (Toytec RCC, OME fronts? Or Dobinsons $350+shipping);
2) buy a Dobinsons kit for $900 shipped;
3) get in on the Fox group buy on t4r ($2500ish?)
Dobinson 120 Series Suspension Kit
FOX Suspension Group Buy (with extras) - Toyota 4Runner Forum - Largest 4Runner Forum
I would say your definitely in need of some stiffer rear springs. Dobinsons does make a variable rate for the rear that should keep you riding comfortable and off of the bump stops.