Suspension articulation questions

so I just bought a new to me 02 4runner, I want to use it as an offroad toy. The only real on road it will probably see is the drive to the off road spot, (up to 2 hours away for some of them) If I don't trailer it.

I want this to be a good all around rig, but i see myself following alot of jeeps through some rocks, so i'm trying to figure out which lift will give me the most articulation. I've been looking at an icons stage 2 or a radflow (I am definatly open to other suggestions) but, none seem all that specific about rear articulation. I've even thought about going long travel, but most of those kits don't seem to come with a rear set, so I have no idea what to put back there. (also long travel seems like it will get waaayyy more expensive, might get to pushing what i'm willing to spend). I keep hearing about OME, and bilstiens, but want something that will be able to absorb some faster bumps (for jumping in and out of mud holes, not necessarily baja things) but mostly to be able to keep up on the rocks (with my buddies Wj at least). I also don't want to go SAS, i'm not looking into that serious of a build.

I do understand that the ifs won't keep up with some dedicated jeep rock crawlers but i'd like to get the best suspension to try and keep up with some of the less dedicated jeep people (I read that our ifs isn't that limiting,)

Any and all advice would be greatly appreciated, I'm excited to get this thing ready and off the road