That being said - I guess it just gets misleading sometimes when you see all these guys with $5k+ suspension and the only pics they ever post or anything they ever talk about is basically rock crawling. Which, according to your post and what I agree with, could likely have the same potential with a $1500 system.
I have no doubt that plenty of members take advantage of their $5000+ suspension, especially on road stuff, but maybe even that is overkill?
It is very misleading. If you really start looking at these threads, a lot of the people buying the really expensive suspension systems are buying them.....well, I don't know why - one-upsmanship or something I guess. When they get questioned about the wisdom of buying something like that they often respond with something childish like "I'm a grown man and I can spend my money on whatever I want". They've got a lot of disposable income and just want to throw money around. You see these systems mostly on brand new mall crawlers and rarely on beat up 250k mile trail trucks which are the best kind - something you don't mind scraping on rocks and running into trees. Most of what people seem to call "rock crawling" around here is just 4-wheeling anyway.
If you really want to build a rock crawler start with a crawl box and lockers. Then add some tall springs and really big tires and pair them with whatever shocks - Ranchos or whatever. Real rock crawling takes place at near-zero speed so the shocks really don't factor in much as long as they keep your springs from bouncing all over the place. Replace the bumpers with high approach angle models or just ditch them altogether. If you really want to get serious do a SAS but really if rock crawling is what you want to do you're better off starting with an early 1st gen 'Runner or an '80s pickup - or build/buy a tube frame buggy if you're REALLY serious about it. Wiz-bang adjustable dampers with remote reservoirs and everything don't help at all.
On road - I've had some really great handling sportscars and have never spent anything remotely like $5000 on the suspension. For a 4Runner that doesn't go off-road what you really want is a stock-height suspension, perhaps some springs with a little higher rate and some good dampers. That's it.
The really big money suspensions only really pay off in two situations: you're dessert racing or you live WAY back in the woods on some nasty barely-maintained road and you need to commute into town for work everyday in a reasonable amount of time and comfort. For 90% of the people on this board stock is way more capability than they need and for 95%+ a sub-$1000 is plenty. There are some benefits with more expensive systems but like most other things, the more you spend the less marginal gains you get per dollar.
So going back to the OP, your requirements are super vague so it's hard to give an intelligent answer. "I might wheel in the future but no way I'm going to beat the hell out of my truck." I have no idea what that means and I have a feeling that you'd consider some of the trails I do in my stock Runner (I am planning on suspension in the very near future though) "beating the sh*t" out of it; I'm working hard on my Colorado pinstripes. It's a seriously capable truck right out of the box and handles some pretty nasty trails with ease and I think will do everything YOU want to do with ease.
edit: oh sorry, LowCountry, somehow I skimmed over your post where you were backing off the idea. I'm pretty sure I'm going with a Dobinson's setup on my truck. 2" front, 1" rear and Dobinsons shocks/struts. Small lift, slightly higher spring rates and firmer dampers. $850.
There are a lot of really good suspension options in the $500 - $1500 price range and if you really use it off the pavement a lot there are some good benefits up to about $2500. Beyond that though like I said 99.99% of people won't see any real benefit other than a lighter wallet and ooohs and aahhs when you go to your local Toyota truck club monthly meeting.