Regearing will give you the feeling of more torque like the others said. Your engine will also run at a higher RPM at the same speed on the highway. I have 4.10's right now. I would love to regear to 4.88's, but it's very expensive so it's not in the plans right now.
I've driven mine across the country 3 times (I live in Alabama) and straight into the back country when I got where I was going (Utah, Colorado, and California).
My last trip to California I drove 1,700 miles in 36 hours across the country and immediately drove 25 miles into the Utah desert to camp for the night. No problems or worries. Then I drove another 1,500 miles to LAX, Monterrey, and then straight into the Mojave Desert to do the Mojave Road Trail. 140 miles of desert travel. Then 200 miles of pavement and then into Death Valley for another 100 miles of very rough desert roads. Then I drove home 2,000 miles.
My truck isn't light, and it's held up just fine on these trips. She's sitting just shy of 250k right now. The only thing I have had issues from were non OEM parts like the aftermarket starter the previous owner put in the truck.
Biggest thing is to stay up to date on maintenance, and be aware of your truck and when something seems off. I'm extremely anal about maintenance and notice immediately if my truck makes a noise it shouldn't be making. That doesn't mean something can't happen, but I try to influence the variables that I can and prevent dumb things from becoming major problems. Like at 200k I replaced the fuel pump as preventative maintenance. Would it have lasted another 100k? Probably. Did I want to chance being stuck 50 miles from a paved road with a dead fuel pump? No...