Gabriel coil overs for the front, KYB for the back and new springs. Replaced all sway bar and rack bushings too, and it rides like a dream! Total cost for everything (RockAuto) was $350. Last month I got new tires (Cooper Discoverer AT3) and those significantly improved my ride as well. ‘97 2WD SR5.
I’d also consider all your suspension-related bushings and bump stops. All that rubber is old and likely dry and hardened, if not cracked or ripped up.
I run KYB Gas Adjust on my 3RZ 4Runner, primarily street driven, I prefer the firmer ride on pavement. Definitely improves handling. From your comment on potholes you may want something not so stiff. Agree on the other suspension components suggestions, tires can also make a difference on ride quality.