Thanks for referencing my truck above
Don't underestimate your V6, the 4.0L has plenty of power to go offroad, and pull tires around the city. It really comes down to what gears you have in your truck. If you have the tow package (axle code D4 on your VIN) which has the 2" towing hitch, then you have 3.73 gears (LSD). If you have the smaller Class II hitch, then you have 3.55 gears.
The 3.73's would be the ideal choice to have if you're wanting to put some larger tires on it, makes things roll a lot easier. Although quite a few members here have theirs lifted on the 3.55's and they get around just fine.
My truck is a very simple example of a lifted Explorer. Plenty here have great looking 3rd gen's with much more mods. I used to get pretty wild with my mods on previous vehicles, everything from 15" lifts, to completely laying frame...the 3rd gen's truly don't have a whole lot of suspension options yet, and we rely on a lot of custom fabrication to make them go up. With this comes trial and error...but you can get as wild as you want to get with it depending on how much you want to spend.
Since yours is 2wd, and you admit you aren't going to attempt to thrash some trails, just stick to a body lift. Go to my Before & After page on my signature and look at the pictures of just the body lift alone to give you an idea of what it would look like from the front and the side. The wife personally liked it just with the body lift...now she thinks its too high (well probably because she has a hard time getting in...lol). There's a great thread stickied on the top of this forum about installing the PA-883, I did mine by myself, took a weekend and a 12-pack.