If you feel like you need to do something, the thing to do would be to get stiffer anti-sway bars with disconnects. That way you would essentially be making a manual version of KDSS. Stiffer roll handling on road, but the ability to loosen them up by hand offroad.
Though the current SR5 anti-sway bars seem to give a decent compromise between body roll on road and flex offroad, at least from my experience so far.
I put on a cushy lift on mine, feels good on and off road but it has some quite noticeable body roll, not BAD but it's there and noticeable. I'll either get used to the body roll or I'll be considering a stiffer rear anti-sway bar in the back only with quick disconnects for wheeling. (If I can find one for the 5th gen!)
Just waiting a month or two till I get the rear bumper on to see how the handling goes...