The Bilstein 5100s are awesome, but they might actually be a bit stiff for a pure kid-hauling road warrior. They are valved firmer and are primarily designed to accommodate leveling and off-road use.
For a noticeable upgrade over the Les Schwab replacements that will keep the street ride comfortable, look at the Bilstein 4600s. They give you the exact same build quality as the 5100s, but they are valved specifically for stock-height, everyday street driving. They handle heavy highway miles perfectly without the harshness.
If you want the closest thing to the smooth factory Toyota ride, check out the KYB Excel-G. They are incredibly comfortable, budget-friendly, and perfect for a pavement-only SUV.
A heads-up on doing it yourself: the rears are an easy bolt-on job, but the fronts are a coilover setup. If you buy bare shocks like the Bilsteins, you’ll need to compress the front springs to swap them over. You can rent a spring compressor from an auto parts store, but the safest DIY route is to pull the front assemblies off the truck and pay a local tire shop 50 bucks to swap the springs onto the new shocks for you. Alternatively, you can look for pre-loaded strut assemblies (KYB usually sells these) that come with brand-new springs already attached, making the front swap a simple unbolt-and-replace job.