I got daystar with no arms and i'm fine. Just can't run too wide of a tire. I think anything over 285 needs either a spacer or UCA but check out the sticky. Anyways moral of the story, you don't need UCA.
I have the Daystar lift and did not change out the UCA. I do feel a little float in the steering but nothing to be concerned with. My Frontier was the same (Revtec spacer lift) and I drove it 50,000 miles with no issues.
When I change to a coilover lift I will change out the UCA. I did on our FJ and the steering is tight.
Thanks guys! i changed out the UCA when i did my coil over lift on my tacoma and the steering is better than stock. when i upgrade down the road to a coil over on my 4runner i will change them out. thanks for the input guys