Big Lift
As far as the "bracket lift" goes, the 6" will work. It is supposed to keep the front end within factory alignment spec's, but rarely does. It achieves this by lowering th front differential, exchanging the spindles with new ones, and lowering the mounting points of the struts. Fabtech, Pro-Comp, Trailmaster, and Tuff Country make these kind of lifts that will fit on the '95.5 to 2004 Tacoma and subsequently the FRONT ONLY of the '96 to '02 T4R.
The problem would be getting 6" of lift out of the rear of a third-gen T4R. Many companies offered 4" bracket kits for the 2nd-gen T4R, like Skyjacker and Superlift, but these will not fit without a good bit of modification due to differences in geometry. Longer links, coils, panhard bar, and bumpstops along with a good eye for geometry would be needed to achieve such a rear lift.
I have installed these lifts on Tacomas and I have one word for them: SUCK. They suck to put on, suck to work on, and suck in ride quality. Not to mention they are extremely expensive. Plus, one can only fit about a good 33" tire, and they still rub the bumper and body seam under even slight compression. Do like the other members say, a 2.5 inch spacer lift and a body lift of 2-3 inches will clear a 33" easily and a 35" with a little bit of rubbing.