There's a couple guys around that do good work on tube bending. I've got a friend that has a bender. The stuff takes time though unless you have one of the high dollar hydraulic suckers. And it's easy to miscalculate and screw up part of a stick. But that's how one learns.
Thing to keep in mind on it all is that you can't have stuff sticking out over 4" in this state. So if you are building an exocage you want to keep it snug to keep the staters happy. Those tickets add up. Which is another pointer to you. Build the thing and keep the laws in mind. Saves a lot of hassles with the cops. Just do the good mud flaps from the beginning too. Make them so you can remove them for wheeling and then put them back on for the road. They love handing out tickets for lack of adequate flaps. Another on is the noise thing. Nothing says you can't have a flowmaster, just don't go for the loud sucker, get one of the quieter series. And Toyota's came with doors, so ya gotta have doors. You want them in the crappy weather anyways. But it's nice to build a custom set of doors that a lot of guys do, like half doors, re-inforced with tubing. Nice and strong, yet they give you good visiibility for playing in the rocks. You can play by the rules and have a lot of fun playing and keep a clear drivers license, or you can play like a punk and end up not driving cause your license got pulled for too many points agains it. Being cool ISN'T sitting on your butt watching the other guys driving their wheelers.
The SAS takes a lot of parts to do it correctly. Buy a kit for doing it, or else buy the parts seperately if you have someone that knows what they are doing. There's extra stuff there, like hi-steer, shock hoops, shocks, extended hydraulic lines, a long flex front drive shaft, spring kit, axle housing reinforcement, etc. Not a rough thing to put on, just takes some time and a bit of welding.
It's a fun hobby though, and you'll meet a lot of good people (a few others too) but by and large it's a pretty close knit group of folks that are pretty good about helping each other out.