I'm new to 3rd gen 4Rs but this is timely.
I just installed Bilstein 4600s all around. I like them. The bilsteins are a smooth, firm ride. I took it last weekend on dirt roads with washboards and felt it handled itself fine. I do feel that it does not absorb potholes/cracks in roads as well as I would like. It's smooth on the rolling hill stuff.
I bought my 2002 4WD SR5 in October 2021. 167K. Just finished 100% new suspension - bushings, springs, shocks, bearings, etc. Since it's new to me I'm still figuring it all out.
~Jason