'05 Prerunner Suspension Rec?

Looking at a lot of the threads here, it seems that there are many folks with different configurations of springs and shocks. Of course, there also really doesn't seem to be a 'right answer', as far as recommendations either.

With my '05 TRD Off-Road Prerunner, I put air bags on the rear, to help with towing my camper (it has the 3 leaf set up, as I didn't know about the TSBs while it was under warranty), and replaced the shocks with the Bilstein 5100s (set at stock).

Recently, after realizing that it's paid off and I'd rather spend money on the truck (versus pissing it away on useless garbage), I decided to try and put together a plan for suspension upgrades, among other things.

Considering that I do light off-road (basically, to access campsites, trails, and to take my nitro RC into the backwoods a bit), it is even worth it to upgrade the suspension? Or better stated, since it is only 2WD with the stock electric locker, is it even worth it? The stock coils and leafs with the 5100s ride really stiff, and I was thinking of doing some work to get a little bit of height and soften the ride, but I'm not sure if the money/time spent would pay off. I debated trading it in on a new model (that was actually want I would have rather have purchased initially, 4WD, Manual trans, etc.) but I'm really liking not having a payment (and I just put a decent sound system in; rather not do that again!).

Any insight from you folks that have been doing this for a while would be awesome. It's my first truck, and I've been really happy with it for 7 years, so I'm excited to start tinkering with it. I'm not looking for a straight out "tell me what to do answers"; feel free to simply point me to links so I can learn it myself, if need be! Thanks