I've read enough rough reviews on the 5160s due to leaking that lead me to the Bilstein 5100 set up with a spacer in the rear. Bilsteins are known for good shocks so I felt like this was a durable, reliable option.
That being said, my use is DD, long-distance road trips, family around town travel, and some challenging dirt trails here and there. Also, this is my wife's DD.
So, I wanted a slightly more stiff ride than stock (more stable), a noticeable lift, and nothing crazy cost or component involvement-wise.
Bilsteins 5100s, set at 1.75" up front with Cornfed 1.5" rear spacers was perfect for me. When I tow or load the car up completely, I air up the AirLift 1000 airbags in the rear to maintain rake and ride comfort.
My one other friend with a 4Runner says ours drives leagues better than his stock set up and I completely agree.
For durability, the less you have to modify, the better. Small lift = no CV compromises or UCA issues.