My 4Runner is my daily driver, and only vehicle, and I have all the armor. Does everything I want it to do.
At the same time, a good buddy of mine who I wheel with only has basic sliders and a front bumper on his FJ. No aftermarket skid plates, though with a 3" lift and 35's I suppose he's not dragging on many rocks.
If you have a 3" lift and 33" tires I would say you may not need any additional armor, maybe just sliders at the most. Depends on what you will be driving over.
Do you do any 'rock crawling' or would it best be described as bumpy dirt roads? If so you may not need anything, these are pretty stout trucks afterall.