I dont have a Toyota. But I do have Bilstien 5100's on my 2014 GMC Sierra z71. I took off the old Ranchos and put the Bilsteins on top bracket. What a difference!
Unfortunately I've only had them on a few months. But in those few months I've done quite a bit of driving, including driving the Mt. Washington Auto Road in New Hampshire.
My experience so far has been very positive. I got a two inch front level and a hell of a lot better control over city pockmarked, potholes streets as well as winding, dirt mountain roads.
As I understand it, if you want o do something like rock crawl, these mat not be for you. But mountain passes, dirt roads, fire and service roads and mild offroad, the Bilstein 5100's should do you just fine.