People seem pretty divided on whether or not UCAs are necessary. The fact is a 3" lift will leave you with less caster than you currently have. Too little caster makes the steering respond to road imperfections, and it's down to your personal preference to decide if that makes your truck too twitchy or wander too much. You might not even notice a difference.
While a front end alignment isn't super cheap, it doesn't cost much compared to new UCAs. I'd recommend you install your lift and get it aligned with the stock UCAs, then decide if the handling is acceptable; that's what I did to give myself time to save up for my UCAs without destroying my tires with a bad alignment.
Also, I'll be one more data point: I lifted 3" on stock UCAs and noticed a significant increase in how much the 4R wanted to wander at speed, especially on freeway lanes the semis had worn ruts into. It took a lot of small corrections at the wheel to keep it pointed where I wanted. It was definitely driveable, but I found it annoying enough to upgrade my UCAs; the handling is back where I like it now. Caveat: I come from small sporty cars and don't have previous experience with lifted trucks, so I'm probably a bit overly sensitive to less-than-ideal handling.