Sonoran Steel
On both of my 2001 4runners (mine is 4x4, my wife's is 4x2) I have the Sonoran Steel 7.2 system.
For more of a mild lift you could go with the SS 3.0 system which uses the 99 stock springs that were the tallest for our 3rd Generation 4runners.
Run through SonoranSteel.com and see what looks good for your use and budget. Give Steve a call or email if you have questions. He is a very knowledgable about our 3rd Generation (96 to 02) 4runners.
Good luck and take care.