FYI: That phenomena is not body roll. Body roll is a totally different, but not unaffected aspect. Body roll is when you take a turn, and the centrifugal energy displaced causes the body to "roll".
The car wanting to physically flip over is due to a higher center of gravity. You lifted your truck. You lifted a light truck. You lifted a narrow, light truck. There is a reason they don't produce them like this anymore. At factory spec, the 2nd gen runners were prone to flipping. You made it worse. Newer SUV's are wider and shorter. My 2004 4runner is significantly lower than my old 91 4runner and I doubt I could ever get it to flip.
Second: Widen its stance. Add some wheel spacers. The wider your stance, the more stable you will be.
Also. Your track is all wrong in this photo. I can tell you exactly why you wanted to flip. You went to to aggressive in your track. You took your narrow car, shoved it left with engine weight down; while turning. You can clearly see it. Are you new to trailing? Can I suggest you not every risk your friends to death like that ever again??? One false move and your truck could have well crushed them. In this situation, you can use rope; pulling from ABOVE. You never push from below. You could kill someone that way. But it doesn't matter. You should have taken a different approach angle and it would have solved it.