Engine tuning.

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Yes, I had an OTT tune done from Colorado Toyota Tuning. Definitely made a big difference. I have front and rear bumpers and larger tires, so tune has helped with the shifting after adding all the weight.
 
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Same OTT tunes on ours. Basically same 'feel' as having a pedal commander without having anything connected in the pedal wiring.
 
Not familiar with this platform; but I can't imagine there's a lot of power on the table, even if you're adding ignition timing, fuel and running 93 octane. Just consequence of lower compression, N/A V8.

That said, there may be more value in the transmission tuning (e.g., modifying shift points, increasing line pressure) to pair with offroad mods.
 
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