Lift or not?

Just got a 2020 Taco about a month ago. It’s factory, SR5. Nothing crazy. Currently not lifted. I came from a lifted Wrangler and the drop down has been a huge adjustment but I had so many issues with the Jeep and the driving after it was lifted like that. My neighbor has a TRD that’s lifted and he says he’s all over the road with it, he won’t even let his son drive it. I want more height but I don’t want the problems that come with too much height. What would you suggest? Trying to drive this truck into the ground, for as long as I possibly can.