I have run Toytec on my Tacomas and its a good lift, particularly if you don't try and max it out. Ride on road and off is significantly improved. I was able to run rough fire roads at faster speeds while maintaining the same comfort and control of the stock suspension.
For my wife's '13 SR5 4Runner I wanted to try the Icon set-up. Icon stage 1 kit is would really be best w/ aftermarket UCA's set up at about 3/2 lift. My wife didn't want it that high. That led me to this:
http://www.toyota-4runner.org/5th-gen-t4rs/147258-no-low-lift-icon-suspension.html
The ride with the Icon set-up is a noticeable step up over the Toytec. Not bashing Toytec, the Icon is significantly more expensive. When you drive it, you can tell the difference. If you are willing to spend the money, but want to be certain that the Icon set-up is worth the additional cost, rest assured it is.
Is it needed? No, the Toytec is nice - the Icon is better both on and off road. The Icon digressive valving allows the suspension to feel both tauter and more supple compared to the Toytec stuff. I know that sounds contradictory but it really does work.
My wife loves the suspension and the way it drives now. She does NOT like a harsh ride! She felt the mushy SR5 suspension was fine and was scared I was going to make it ride so roughly she wouldn't be happy with it. She is very happy with the changes so far (she's tired of waiting for the sliders...).
I don't think the above thread has any pictures w/ the Shrockworks TE trim rocker panels installed. With the factory SR5 rocker panels hanging down another 3 or 4 inches, it doesn't look nearly as nice. Here are a few pics - this is about what this set-up would look like on a TE w/o the running boards:
Hopefully the sliders will come be installed in the next few weeks and I'll update the thread above w/ pictures.
HTH
David