From my standpoint, I have a real hard time not using the stock components, but I am not lifted or running oversize tires. I have over 140k miles on my truck, and have never done the brakes. The last time I looked, the fronts are getting close and the rears are at about 50%.
I have done a fair amount of towing, but everything that had any amount of weight also had trailer brakes.
I saw somewhere that there are braided lines available to go from the steel lines on the frame to the calipers. I know from my bikes that the braided lines will add a lot more feel to the levers (pedal on the truck). Unless I get really fast, I just can not justify spending the $$ changing the hard parts-especially when they seem to last so long.