HELP, stage 1 suspension upgrade

I am new the off road world, so i don't have many resources. I have a 2000 Tacoma pre runner TRD. its stock right now, but i want to put new suspension on to handle better in the dirt but still maintain a good feel on the road as well. I am not looking for a top notch package yet but i do want something of good quality. i would also like to be a little higher up.
Any suggestions or advice will be appreciated greatly!

also if there are other parts that would need to be changed along with the suspension (i.e. UCA LCA, sway bars), please include the info if you can. like i said i am new to this.

THANKS!

 

Well do you want a lift or no? And are you looking to replace UCAs and LCAs or just if you have to? Budget?

 

bilstein 5100's