The best set up? Stock height with better suspension?

I have a first gen tacoma, what is the best set up on suspension, factoring in i want keep my oem upper a arms?

i have icons add a leafs, i want some new suspension/
Coilovers?

are the fox”s/ bilstein 5100s adjustable where i can have it at 0” lift?

my goal is to spend minimum amount of $ but achieve
Somewhat gains on my dirt roads. I have a camper shell on my bed and duro bumpstops. I am bottoming out in the rear all day and feels like my front end is soft suspension wise.

 

Just my opinion, but I'm going to say Bilstein 5100s or 6112s best bang for buck