Hit up Chad (SLCPUNK72 or something on here) He has had a few different first gen Toyota kits he has ran one of them even had sway away torsion bars so he will have some real good first hand advise. He also has his own suspension setup for them now.
He also has a basic daily driver ford ranger with a Long travel kit he built I know he would take you for a ride in it. IMO long travel is amazing for off road and can be set up to have great road manners also but Utah winters are hard on uniballs and make those high dollar shocks and bumps look like crap with all the salt. I would not build a daily driver with those type of parts just because of that.
Like it has been said to go fast in the desert is very expensive and from the sounds of it you don't even really care about going that fast. I would think a basic reservoir shock front and back with proper valvieng for your driving, some spring over deavers, sway a way torsion bars and air bumps on all 4 corners would have you able to drive at the speeds you want with the only compromise being a stiff on road ride.