Are 5100s a more comfortable ride on road that stock OR Bilsteins?

I have a 2006 PreRunner AC Offroad with stock Bilsteins. The truck has 145k miles and I'm sure the shocks have never been changed. I do 99.99999999999999999999999999% driving on road and wanted a smoother ride. Currently have the BF Goodrich All Terrain (same as every other Tacoma) tires and would like to keep those at least until it's time to replace them. They still have plenty of tread left. Also I'm not going to lift the truck. I MIGHT level the front but I doubt it.

 

I have a 2005 Prerunner Sport DCLB with 145k miles. I recently had four 5100 shocks put on when it was in for the new frame. I don't feel the truck rides much different with the new shocks. Everything is tighter and more solid feeling because of the new frame but shocks feel similar. I drive a winding mountain road everyday. The fronts are set on zero with stock springs. Back springs are new because of frame swap so the rear is higher but I'm fine with that since I do haul 500-1500 pounds of cargo twice a week.

 

Thanks! I'm not going to bother spending the money then. If I want it to feel comfortable I guess I'll just drive the Miata first.