What Spartacus said...
I'm in CO and have done some gnarly trails already in my stock SR5, lookup Tin Cup Pass (videos 2019 or newer) and Imogene. I ran Tin Cup 100% stock and Imogene with sliders and made it through both with just minor scratches (mostly all my fault for being a scrub) and a couple because i couldn't clear things. Most folks that saw me running those trails stock were surprised how capable they are stock and so was I.
I'm partly in the same boat as you, i picked mine up for camping/fishing/road trips and my buddies got me hooked on off-roading too. Take it out where you'll likely be going most and you'll find your gaps then fill them as you go, that's what i've been doing for the past 2 years.
Looking at the options though, they all seem personal preference, nothing that'll really get you going farther. Running boards are nice - finding take offs are really easy for 1/3 the price from mfr though, same with cross bars. I do like having all weather mats makes cleaning a breeze, i got mine really cheap from the dealership when buying so i went for it since they were about the same price as other brands.