What am I looking for?

So I love my dcsb trd off road but am thinking that a small lift would be nice. Maybe 2 to 3 inches. Not looking to change the ride quality but I want to give my truck a little more clearance for some of my local roads. Might add bigger tires( nothing to large) in the future. I'm new to the whole lifting game also I do not want to do anything that might void my warranty? what price installed should I expect to pay?
Thanks

 

So I contacted a local shop and he suggested 5100 up front and a aal in the rear( not for lift but for the topper that I have ordered). Price installed around $500. Seems like many people talk about vibration and harsh ride with the 5100 and do not like to add aal. Obviously I do not want to have a harsh ride as this is my daily driver so thinking about just keeping it stock. Any thoughts on this?
Thanks in advanced

 

http://www.tacomaworld.com/forum/suspension/142677-suspension-lift-info-includes-pics.html