Offroad Comfort

Lots of options out there. I'd stay away from the cup kit style, like the 5100/6112s and others, where you either use your factory spring or some other spring on a semi-adjustable shock body. Go with a true coilover, of which there are many, Icon, Fox, Eibach, Falcon, King, Toytec, and many others, preferably with adjustable damping. While initially stiffer than stock, a properly/better tuned suspension should take out a lot of that harshness and chatter and make the ride much more comfortable for passengers.
Lots of options and degrees of increased performance, just depends on how much you want to spend.

 

HA...

I just noticed my 19 SR5 has Hitachi Shocks! Never even knew they made shocks.