What now?

So I kind of "acquired" a 2001 Limited 4X4 Tacoma from my Father-in-law. It has 85,000 miles on it and it's in great shape. He left it with us when he got a new vehicle. As this will now be a extra vehicle, I want to start setting it up for mild off-roading with the family.
First thing is that I know it's only had very basic service since new (oil changes and tire rotations), so I want to start with timing belt, spark plugs, etc. What does it need at this mileage?
Next would be a mild lift and tires. What is recommended as entry level set up? Can I get away with just a larger tire to start?
Thanks in advance.

 

Your father-in-law rocks.

 

Thank you! I've been lurking for a while trying to get some ideas.
I've always been a Ford guy and the whole family rides Dirt Bikes. We mostly stick to the Southern California Desert, but sometimes hit the Mountains as well. This should be a fun little truck for us!

 

Replace fluids would be a start.