That's a tough question, I guess it depends on how far you want to take it. There is endless aftermarket support for the Tacoma so you can do just about anything to it from suspension to armor. I'm a bit of a minimalist and prefer to keep it simple. I think the Tacoma does really well in stock form and I personally feel like once you start modifying the front suspension it can take you down a rabbit hole. A lot of people go straight to adding a lift of some kind but just be aware that lifting the truck changes the design engineering and puts stress on the axles and other components as they are now operating outside of their designed parameters.
So this is what I would do if I had that truck and was just starting out.
1. Recovery gear/tools/air compressor/camping gear/safety gear.
2. Hook up with some other overlanders and go on a day trip or overnighter to get an idea of what you might need.
3. A bit more aggressive/tougher tire once your bfg trails need replacing
4. The TRD off-road already has an upgraded bistein suspension so no need to change unless you really get into it and feel the need. A good way to do a slight suspension upgrade would be to look for 2016-2019 trd off-road suspension "take offs" on craigslist or offer-up. That would consist of front bilstein coilovers and rear shocks taken off of a new Tacoma because they wanted more aggressive suspension. The 16-19 suspension is a direct bolt on to the 05-15 and adds a little bit of lift and travel without compromising the stock ride.
So to wrap it up, your truck is quite capable as it is. The only thing it needs is you to take it somewhere.