I've run it in my stock 2014 SR5. It's a very fun trail and is not too difficult. There are areas that can and will challenge your approach and departure angles, but there are also bypasses to those areas, so it's not mandatory. I know my trailer hitch got an outstanding workout the last time I was there...
If you choose to do Devils Staircase, you might bottom out a bit, though you made it just fine through the waterfall last week, so it maybe it won't be an issue. Either way, it's definitely one to do at some point.
_coder