For the rear move all the hangers up on the frame 5" and bolt them back on. Keep your overloads. If you add bags you shouldn't need to notch the frame at all. For the front I personally think that drop spindles are the best route. Only draw back is they say you need at least 17" rims, although I've heard of people running PYOs with them. They lower you 2" without affecting upper or lower ball joint angles, tie rod angles, torsion preload or alignability. Then you can lower your torsion keys to get it the rest of the way down and still be able to get it aligned.
Lower Control Arms will lower it without affecting torsion preload and they will correct the camber, but they will still affect upper control arm angles and tie rod angles. No rim fitment issues though.
With lowering keys you usually can't get camber within spec and the front end rides so soft that you need really good shocks (like QA1 double adjustables) to control it.