Question on lift

Hello all, I bought a 2019 Tundra with a 3 inch lift on it. I had the control arms replaced with some BDS control arms. CV Axle shaft, ball joints and frame bushings. That was about 2 years ago. The 4x4 shop did advise me that I should look at lowering to about 2.5 inches to put less stress on the suspension, as it angles downwards and puts stress on the CV boots.

My question is there no way to leave it at the 3inch lift and not have to worry about having to replace ball joints, or over all suspension issues? I am pretty sure I need to do the ball joints again, as it’s making a squeaking noise when I turn or go up my driveway. I don’t go real off roading, dirt roads is bout it.