Stock suspension isn't working well, what is appropriate upgrade for me?

Unfortunately there is basically no offroading near me so most of my driving is street and dirt/gravel roads. When driving on rutted roads, the stock suspension allows the truck to skitter around, and generally makes holding a line while driving quickly difficult.
I wouldn't mind a 2-3" lift, however I mainly want the better suspension compliance/road holding. I don't need more carrying capacity than stock, it does pretty well for my needs.
This is a 2012 btw.
I would assume the baja suspension would work well, however I'm not sure if it's actually any good?
Fox/Icon/King shocks/coilovers?
Should I be looking at ways to better control the axle motion? Seems like it moves around quite a bit with the stock floppy leaves.

 

I went with the ironman 2" lift

 

How fast do you want to go on the backroads and how rough are they?

 

There's a sticky in this section. Lift info I think. Great place to start. But if you stiffen up the rear to help with axle wrap your going to get better load capabilities.
OME with 885's and Dakar rear. Ftw. Or 884's and Dakar with 3rd leaf removed.

 

Since you're mostly street/dirt/gravel, Bilsteins or OME would fit your needs. Also look into some new UCAs if you'll be running full 3" lift. At first, I did an AAL in the rear and regretted it after 3 months. I now have the Dakars w/ the

$82 D29XL Leaf Spring

D29XL additional leaf. Should've run the new leaf pack from the beginning but you live and you learn. I sold my OEM leaf pack with the AAL to a local member who didn't want much lift and I was able to make back some of the money. Both parties are happy

 

You could try airing down a bit and see if that helps before you shell out money on a suspension.