To show you what is possible:
I do some fairly rough off-roading at times, not Rubicon rough but not just washboard either so I upgraded the entire bottom of the truck quite a bit. I started in the back with Icon rear reservoir shocks, Aclan heavy duty springs and Firestone air bags. The bags have been flawless and are great because you can run them empty if the camper is off ( mine never is ) and load them up as you increase the load in the back. The oil reservoir shocks are especially nice since the much larger oil capacity helps to keeps things cool on hot days on washboard. The front's are Camburg 2.5" coil-over shocks with Icon billet upper A arms with a grease fitting mod for the spherical bearings. I bumped up the front breaks with slotted rotors from Wheeler's Off Road and went with performance ceramic pads. They do wear faster but work a ton better than stock.
I did lose some downward travel on the back when I put the airbags on but they are still good and the front's have a ton. As for tires, I think the stock ones they ship on the Tacoma are not very good at all, might as well be a passenger car. I had been running BFG ATKO's in 275 R16 D's for over 100K but went to 285 E's this time around and wow, what a difference! It's just the right tire for this rig for off road, air it down a bit and man is it sturdy yet plush. I run them about 45 psi on the highway and do really well.
Anyway, I have had my Bobcat on my truck full time since 9/2009 and the suspension and breaks upgraded from the start. Between the suspension and break upgrades and supercharged motor, this thing has been an outright beast! In some ways, it is the most amazing piece of photographic gear I use.