2000 4Runner - any ideas?

I want to put a new suspension on my 4Runner but I have absolutely no idea where to start. My questions would be what manufacturers/parts to buy and where I would have the work done. (Seeing as I have no access to a garage, tools or the knowledge to perform such task...although I really wish I did. This stuff is so COOL!!!!)
Anyway...My main concern is that my vehicle's suspension performance on the highway is horrendous. I always feel like I'm going to tip over when I go around turns and I get blown around like a rag doll when it's windy or if I drive past a semi. So perhaps a sway bar is in line? Also when I go over bumps I feel like I'm in an earthquake and it feels and sounds very violent, as opposed to smooth, like the shocks are frozen and aren't absorbing the impact. So I need better highway performance, but I also would like to have a suspension that can take off roading like a champ. Any advice would be greatly appreciated!  

Well, it's going to be a trade-off one way or the other between off-road performance and on-highway ride & control. I've been in very few vehicles that do both exceptionally well. I know in the Dodge Power Wagon and the new Wrangler Rubicon, they have an auto-disconnect feature for the sway bar, which gives them more articulation off-road, but still gives you control on the open road. If you could find a similar setup for your truck, that would probably be ideal. Though you're probably unlikely to find an auto-disconnect feature. You'd have to manually get out and disconnect it for hard-core trail riding.