Do you have an estimate of how much weight you'll be carrying and how much is on the roof of your DCU? You will not be top-heavy unless you plan to load a bunch of stuff on your cap. Think about the CG of your ~5600 lb truck, and then the weight and CG of what you are carrying. The CG height likely won't change much.
I put Ironman Foamcell Pro shocks on mine last spring, and it was an amazing improvement... way beyond what I expected. Much more planted and secure on bumpy roads. I even removed the front swaybar and handling is great. Good digressively-valved shocks improve handling a lot, as they are stiff in compression during low speed movement (like a sudden turning maneuver), but still respond well to higher speed movements like bumps.
Speaking of swaybars, they make frame twist more, as they prevent the suspension from articulating. IMO good shocks are the way to go for overlanding, not swaybars.
About tires... larger and wider ones will carry the load with less pressure, which is nice for ride... and larger diameter rolls over things easier. Ground clearance is also really important, and tires raise everything. If you get new tires I'd recommend at least 295/70r18 which are ~34.2". These will fit you stock rims and won't require a lift, and will fit in the wheelwells with zero or little modding. If you get new shocks, raise the front 1.5-2" anyway to give you a little more clearance. Big tires are expensive though...
I have 325/65r18 (35x13) Hankook ATMs with a 2" front lift and the mpg is at least as good as the stock street tires. Weird but... rolling resistance can vary a lot between brands and models.
I know there are lots of glowing reviews of RAS, but they look like a mess, and I wouldn't stick those on a truck that would be loaded all the time at any rate. I contacted Boise Spring Works about a year ago. They sell upgrade packs for a Tundra (overload and first leaf removed, and 4 new ones added) that are ~$500. Great reviews on Wander the West. Again, it depends on your weight. I'll probably be carrying ~1,500lb over stock on my rear axle and I'm thinking about a combo of airbags+cradles and 2 add-a-leafs (a short and a long). Airbags can be nice for adjustability but I wouldn't want to rely on them too much.
I don't think the bed stiffeners are going to help in your case... they appear to be designed for people who put a lot of stress into rear tiedowns or have heavy stuff mounted on the bed rails. The frame is going to twist just as much anyway. The stiffeners will resist the bed sides moving relative to the bed in the back. I think they will increase the stress on you cap rather than lower it... well, I guess it depends on whether twisting the cap or keeping everything square in the back is the bigger concern.
Found this... "TOTAL CHAOS Bed Stiffeners are designed to reinforce the rear channel where the tailgate mounts. The true function is to reinforce the tailgate opening and help prevent the spreading of this opening.
Extra weight on the bed rails will cause the bed to flex open and create a larger gap between tailgate and bedside. Eventually this can cause cracks at the bottom corner of the tailgate opening. Our Bed Stiffeners are designed to prevent this, but are NOT designed to help prevent cracking in other areas like the cross braces.
TOTAL CHAOS
WWW.CHAOSFAB.COM"