Mine was SOA for 6 years and I loved it, though it's not for everyone. It may be more lift than you want at ~5", and though the ride is smooth it will also lean more when turning and nose dive more when braking. You still need good stock springs plus new shocks, longer brake lines, SYE eliminator and new rear CV driveshaft, traction bar, relocated spring mounts etc.... so it's not cheap, likely >$1000, and not easy to do.
As much as it may provide the best ride and off-road performance, I think for your needs you should look for a mild lift kit or springs, it will also be easier to insure (search 'insurance' on here and you'll see what I mean).
I can't recommend any particular company or kit as I haven't had any and I don't keep track of them.