for offroad, you'll be fine with 4.10 diff gears and 4.7s in the t-case. If you're taking it on the road (which sounds like the case here), then you'd be best off with the right gearing. The toyota engineers designed the engine to work within a certain RPM range. When you throw 35" tires on a truck that originally came with 30", you're forcing it to work harder at lower RPMs.
I've driven Colton's truck, and it's a nice truck, but the first thing I would do is regear it. Just putting it in first from a standstill and the engine bogs way down. If you want it to drive like stock, like the engineers designed it, then 4.88s would be ideal, followed by 5.29s. I agree with SAMI though, if you already have 5.29s in front, get some for the rear. Then, if you think it's too low, sell 'em. 5.29 thirds are really easy to sell, assuming they're in good shape and they've been set up correctly.