J.A.'s got a nice writeup on his site. After reading it I'm going with Bilstein HDs struts. And they fit fine and if you ever decuded to lift it, they will extend just fine as well. Also Tokicos are what come with stock runners usually so You might check them out.
Link to J.A.'s site :
Higlander '99 Shocks
Just remember too pretty much any shock You buy compared to the stock shocks with over 100k will ride, handle better. Might seem rough or firm at first but that's a given. Wait until You put another 50k on them.
Good luck. Nice signature logo too btw.