You just about described my driving useage to a "T".
Daily driver - on road 90% of the time. Only off road it sees is unimproved stone road to our cabin.
I put Bilstein 5100's at all 4 corners with OME 884 front springs, front shock clips at the lowest ring and I used the Daystar 1.5" spacers with the stock rear springs. You will need an alignment after the install.
I kept the stock 265/70R17 tire size as my aim was to reduce the nose down look and to increase the under body clearance enough so I didn't need jack stands just to change the oil.
I had no plans for any extreme off-roading either.
The front sat a bit high until the 884 springs took their set which was about 75-100 miles. The shocks made a huge difference. Coming from a Ford F150 4x4, the 4Runner definitely rides better (more like the F150) with the lift. I will warn that strong crosswinds at highway speeds can be a hand full due to the lost alignment caster with the stock front upper control arms (UCA's) and the lift. Tire wear is normal with no ill effects from the lift. Corrective UCA's were $500+ for the set, I did not spend that money - no regrets.
62000 miles later it now sits with about 1" of rake measuring at the fenders and not at the frame. Slight nose dive when braking has returned likely due to the "tired" front shocks. I will be replacing all 4 this summer with the exact same. To me it's "mission accomplished".