[QUOTE=HansvH;3758515]So, I'm getting ready to order the stage 2 for my 4runner with KDSS.
My truck is 80% DD and 20% off road on stuff like Engineer, Cinnamon and Mosquito Pass (I already do this now with my stock vehicle with occasional scraping).
A bit harder stuff like Red Cone and Webster is on my to do list.
No hardcore rock crawling and or high speed stuff.

Besides a lift I will have skid plates and sliders. Nothing else.
We are 2 adults and a 100 pound dog.
Perhaps 70 pounds of recovery gear ]

From the above it appears your only issue from stock is the occasional scraping. The gear you describe is not onerous.

If you had a winch, aftermarket bumpers, roof tent I would say plus. Otherwise from the marketing materials the manufacturer puts out it appears you fit the medium springs

http://https://www.youtube.com/watch?v=cbFM4fWvdWI