Overlanding on stock suspension: time to upgrade or.....?

I'm at that awkward stage of wether or not I should upgrade the suspension on my 2020 Tacoma OR.
I currently have a front skid, rock sliders, a steel rear bumper, a truck cap and 255/85r16 St Maxx. With all of my gear, my wife, dog and I I'm slightly over my gross weight rating. So even empty I'm sitting pretty low and basically I look leveled.
I occasionally hit some designated trails in the area and my truck is my DD and camping/hunting rig and I'm looking to expand where we go.
We mostly solo camp and want to start checking out new areas. I know the golden rule is never head out alone but my wife has severe social anxiety so grouping up isn't much of an option here.
Should I start saving up for a new suspension or maybe start throwing money at lighter equipment and better recovery gear like boards and what not? I already have all the basics (straps, compressor ect).
And with all the weight am I doing any permanent damage to any of my components?

 

Get some sumo springs until you can get a leaf pack. I did a lot of back country Moab roads on stock suspension over weight and the truck did fine. I now run icon leafs on stage 1 with ~400 lbs full time in the back I’m right at stock height

 

My truck has front and rear steel bumper, aluminum skids, roof rack, bed platform, and lots of gear.

I ran sumo springs until I could get a full suspension upgrade. They help a lot. I ran it like that for almost 2 years/20k miles daily driving for work doing construction so the truck never had a day below maximum gvwr.
Just got new shocks, heavier coil springs, and icon leaf pack option 2 about $2000 total in parts. Got about 1.25" front and 2" rear lift over stock with no other parts necessary or anything damaged (did a carrier bearing drop but don't know if it was necessary.)

The shop that did my alignment said everything looked good as far as bushings and links go.

 

yes

No, not at all. The factory springs are quite soft, and even with the smallest load, will not carry weight well.
With all the weight you are talking AND off roading with that weight- I'd skip the intermediate fixes and save up for a proper leaf pack and shocks.

 

Sounds like you are halfway there. Go big or go home. Going out solo? Consider a winch. Which can require a front winch mount bumper. With all the additional weight will justify new suspension.

 

If you’re already over the GVWR, I hope you upgrade your liability insurance.