Best ride quality will be with rubber bushings. They last longer and absorb vibrations. The flex also makes the ball joint last a lot longer. Spherical bearing aka uniballs are strong and have high available angles in the right orientation, they're cheap and can be easy to swap in many cases, but they don't last very long.
I'd plan on replacing every year or two depending on miles and conditions. If you get more life its a bonus. My shock bearings are about annual replacements. It's a pita to do for the shocks.
For racing use or of you have lots of free time to maintain them - go for it! For a daily driver that you don't want to be constantly tinkering with I'd go for a UCA with rubber bushings and sealed ball joints. Lots of options out there. I've had a few different sets. Over the 7 years I've had my 4R.
Overall the best ride and handling I've found is the aftermarket fox suspension I have set as low as possible (1" front lift, rear stock height). And stock UCAs. Not the best in the dirt. But the best on the highway is pretty much how it comes from Toyota but with the plush fox valving. Same setup but set at 3"lift front 2" rear 220lb coils and UCAs tracked well, but the ride was significant harsher. It was much more noticeable in the back seats.
Anyway - there's no free lunch. Higher you go the more steering feedback and more harshness regardless of UCAs and caster. UCAs and alignment can help with tracking but only so much. Wheel spacers and wide tires make it worse. Just the nature of the leverage on the steering axis. If you want the magic bullet for great highway manners, it's basically free. Just set it back to near stock height and keep your OEM UCAs.
Doesn't look as good. And you lose some ground clearance for off road. But it'll drive better.
If you can find one - go test drive a stock 4runner. For folks like me who've driven lifted ones for a long time, it's easy to forget just how nice the stock setup was on the highway.
Good luck with whatever you choose!
