I've had both SA and IFS version 4 runners. Because its my everyday drive & offroader as well, I've compromised and now live with the IFS on a gen2.
My perspective here...To survive the initial shock of going from SA to an IFS, I added a 4" lift kit, lockers/LSD, run BJ spacers and modified the lift kit bump stops to increase travel up front. Swaybar disconnect in the rear. I set mine up differently, focused on droop rather than lift. My front A Arms run parallel to the ground rather than downwards like standard. Chassis clearance is helped by the 4" kit, but the 32" rubber also helps as that is the only thing that counteracts running less elevation in the torsion bars. It now rides like a full coil vehicle on the trail, but has taken a while to get it all sorted and most likely cost more than an SAS swap.
One CV failure to date when I drove onto a rock platform, turned 4wd off but failed to remember in low range it won't disconnect and by turning broke a front CV. Only failure ever, and sadly was my fault.
One thing that bugs me with IFS is the amount of moving parts - leafs its just the spring hanger rubbers that go. IFS its the A arm rubbers, the upper & lower ball joints. More replacement parts ongoing with the IFS.
In the rear leafs are awesome, but coils can give similar travel and are less maintenance than leaves in themselves but for the upper and lower control arms bushes wear instead. So easy to swap coils in and out to suit your requirements. Horses for courses for what you do in the rear.
Here's what achievable (no blazeland kit) with IFS, but blazeland will achieve better just by bolt on.