OK, once you get offroad past the "fire road" stage, it's pretty typical to air down your tires. How much is a different question...
But when running a low profile tire such as 55, you can't air down very much.
So it's typical to run a 75 series tire such as 285/75R16, rather than a low profile 'off road' tire on a tall rim such as an 18 or 20" rockstar.
The harder the trail, the more treacherous it is to have a high center of gravity. And drop-bracket lifts such as RCD et. al. lower the front differential and axle components, so they don't really increase clearance over much over the center vs. a 3" lift. (Yes, they WILL have higher breakover/approach/departure angles)
So trail driven tacomas often choose just a 3" lift such as OME, Toytec
, or coilovers by Fox/Icon/Camburg/etc...
Have you high centered your truck yet on roads/trails you drive?
There's lots more info in the "sticky" threads at the top of this forum you can read through.