Bilsteins will help a lot. I once had OEM shocks and it rode pretty rough. I only have a half inch lift. Those who have been in my truck can attest that it now rides almost like a passenger car with Bilsteins.
I haven't own a passenger car in over thirty five years. All I can say is those Blisteins much be great shocks. In all the years owning FJ40s (since 1974) have never had one I felt drove close to a unibody car.