That’s a really good point. Thanks! I’m going to first get the wheels, and if that’s not enough I’ll take it to a professional. I’m OK with getting the wheels because they’re actually original Hilux equipment also from a 2016 SR.I think the best advice has come from CTL when he said to get professional advice. Experimenting with wheels, tyres, shocks, springs, pressures etc can be very expensive with no guarantee of success. Even if you do end up with something that feels good on the road, you may have changed the car's handling from the factory designed understeer to oversteer. That can lead to disaster in an emergency situation if you don't know how to control it.
If you are anywhere near Sydney, I would take the car to Heasman Suspension and Steering.
They have been in business since 1954 and can set up anything from your ute to a Ferrari for the Bathurst 12 hour race.
I would imagine there would be similar companies in other capital cities.