Agreed, mine has gone everywhere I asked it to, it's only complaint is slowly wearing down the receiver hitch and that's with 18 year old LX springs. Now that I've lifted it a few inches to give my hitch a break, I've broken the bank instead!
If I had to do it all over again, I'd immediately get my hands on a Factory Service Manual and a 200lb capable Torque Wrench (rear Lateral Rod Bolt!). Toyota has some specificity that I've not seen in the Chevy/Dodge world that should be paid close attention to. Next, I'd grease anything that rotates (bearings, slip joints, u-joints, etc.). Then replace anything suspension related with new OEM rubber and gain a deeper understanding of pinion/driveshaft angles and how a lift will/could impact them before doing anything else to the truck. Next I would put aside the dreams of big tires and suspension lifts and completely finish the remaining Baseline and Preventative Maintenance work on the truck. There's lots of good posts on what that involves. Finally, I would determine what I plan on doing with the truck in the long run and proceed slowly with a full budget, lots of time and an extra pile of cash for the "While You're In There" things that arise during the various projects. Have a good idea of where you want to end up and keep an eye on the horizon so you don't buy parts or replace parts you will ultimately replace again because your long term goals ran you off course.
For instance, I replaced my OEM bushings everywhere on the truck immediately after my lift before I understood that I'd need to ultimately replace my lower control arms to reset the axle pinion angle. Now I have 2 OEM LCAs with new OEM bushings ($140) that are sitting on the garage floor.
Don't be afraid to ask questions or look foolish. Your safety, the safety of your family, friend's and all the people around you depend on how well you approach the truck and the problem at hand. Many people with give you a rash of garbage and it sucks to be bashed about by the senior guys who really know this stuff but they sometimes forget that you are learning and they have forgotten more than you will ever know about these trucks. Everyone is very helpful and willing to lend a word of advice and in the end, it's worth it and really pays it forward for the next guy who reads your post and is reluctant to take the beating.
U-Joints and Slip Joints - Evaluate, grease to spec and/or replace U-Joints. Understand what a slip joint does when it's over-greased and how to avoid/correct over-greasing. I always err on the side of caution and replace U-Joints and balance the driveshaft unless I know it's been done recently. Many issues arise there. Use the Factory Service Manual to validate the driveshafts are phased correctly; front out of phase and the rear is in phase. Verify the Zerks and Yokes are aligned per the FSM as well. Use the OEM Toyota joints, there are special specs again for Toyota that Spicer and the other folks just don't understand. They are pricey but they are strong and you'll probably only replace them once. Finally get the shaft balanced if everything else looks good.
Service or replace anything rubber (including tires) before chasing down vibrations or poor handling/road manners once your drive shafts are perfect!!!! Don't assume a noise or vibration is coming from ANYTHING until you have new Motor/Trans Mounts, OEM Rubber Control Arm and Panhard (Lateral) Rod Bushings, OEM Rubber Sway Bar Bushings, and maybe even new OEM Body Mounts (although I haven't done body mounts yet). I drove my truck 400 miles immediately after purchase and got to really know it on the road, I've removed at least 5 "layers" of noise and vibration through wheel bearings, control arm bushings (front and rear), drive shaft balancing, u-joints, and motor/trans mounts. It feels like a completly different truck and I'm finally understanding how it once deserved a Lexus badge. It barely deserved a Jeep badge when I first bought it and it was a Soccer Mom virgin. Too bad the Soccer Mom maintained it like a Prius and not a Land Cruiser.
Drive Shafts and Pinions - U-Joints and Slip Joints aside, I'd gain a better understanding of how to take angle measurements of the aforementioned components and understand both the mechanical and financial requirements to right a misaligned pinion and the pros/cons of each. 95% of my driving is on the street every day to work, many folks on this forum are building dedicated trail rigs and there's a Grand Canyon of gap between the two. So many variables that can fluster, bewilder and frustrate even the wisest shade-tree mechanic. Understanding the use/purpose of the truck is key but unfortunately, many of us have 1 truck and 2, 3 or 4 purposes (Daily Driver, Family Camping, Weekend Wheeling, Overland Expedition, etc.) for it so it makes the actual build difficult. I saw many posts about "Adjustable Upper and Lower Control Arms" and "Double Cardan Drive Shafts" and "Caster Correction Plates/Arms/Turn and Cut" without paying a whole lot of attention to them because they seemed too extreme and it didn't seem to apply to me. I thought it was a hardcore wheeling thing. My advice is to read everything about the components related to what you are working on and understand "WHY" it would be required and see if it fits your situation. Lifting the truck? Understand the thresholds (2-3", 4-6", etc.) and research "WHY" a vendor is selling a certain component. Understand if it is a an OEM replacement size, lengthened or shorted for a specific purpose or remedy or just a nice to have that's bigger than your buddie's.

Don't assume you won't need it or it doesn't apply to you until you fully comprehend your requirements.
I lifted my truck only 3" (TJM 50mm Heavy Linear and 30mm Poly Spacers) but ended up with a solid 4" at all four corners due to recovering an extra inch from 18 years of spring sag. Unfortunately, no matter how much I rationalize it and how much people tell me "it shouldn't be that way, we do that lift all the time", the truck, the pinions, the drive shafts all see 4" and react accordingly. Now I own a DC front shaft, caster correction plates, Metal Tech Rear Lower Control Arms, and a Digital Angle gauge. I never foresaw buying anything but the Caster Plates and I over-plan like a demon. Now I'm refurbing my OEM rear shaft and putting my brand new Rear DC shaft up for sale. Sometimes you can't see the "Transmission for the Gears" though and you overlook things that are relevant even though you don't think they are.
