5100’s are street shocks, you can put them in the dirt like the factory ones but they’ll fade quickly like any other conventional street dampener if you’re trying to have some fun in the dirt. They’ll be fine if you’re driving miss daisy across washboards in the desert

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What’s good for speed/dirt offroad action with your factory mid travel lower control arms: King 2.5 Coilovers in the front with your choice of aftermarket UCA and King 2.5 rear shocks. Spend once cry once. They come with reservoirs already and you can get their optional DSC adjusters if you wanted as well.
Similar performers you have Fox, Radflo and Icon, though with Icon you get a little less performance in the front as they don’t add a reservoir to their CO’s even if you ask for it, without a res they can’t add CDC either so they only have those options in the rear.
Below the 2.5 body shock options for max performance using your factory length lower control arms that you have above, you can also have a setup that I consider mid entry level performance from Icon where you get 2.5 CO’s in the front and 2.0 shocks in the back for a more attractive price. Icon Stage 2 accomplish the performance level and you can opt to have reservoirs with those 2.0 shocks to get every ounce of performance they can give you.
Get your choice of aftermarket UCA.
Below this you have entry level performers if you get Bistein 6112 front with 5160’s in the back, guarantee the 5160’s will fade 5 min later than 5100’s... lol their res is a gimmick, but you can use Icon 2.0 shocks with or without a reservoir. Icons have digressive valving so they will pair good with the Bistein 6112’s which are digressive as well. Problem here you can rebuild icons by yourself or let somebody do it for you, But only Bilstein in Poway CA will get those 6112’s rebuilt for you.
Then you have Falcon shocks similar in performance with the 6112s front and they give you a matching performer in the rear. They use your factory front springs. Rebuilds will be done by Falcon only.
All this options will give around 2.5” lift. An aftermarket UCA is highly recommended.
Then below this you have Fox 2.0 shocks, you’re limited to just 2” of lift with this option but honestly a 2.0 CO doesn’t have the displacement to hold the weight of our trucks at speed in the dirt but at least you could push that setup harder than 5100’s under the same circumstances.
Good luck with your choice and happy wheeling.