It is possible. However most kits will not give it to you. It is a matter of spring rates and shocks. For instance, an S10 bastard pack gives a decent ride in the rear since it is a two stage spring. You can use a spacer for the front and use a stock spring or you can get a coil with a spring rate around 180 pounds per inch. Avoid shocks with a 50/50 compression rebound ratio. Instead go for a 90/10. 10% compression and 90% rebound

 

Old Man Emu
I daily my XJ, haul equipment once in a while, take it on trails.
My OME suspension is very comfortable, and very capable.
Dirk over at DPG Offroad can help ya set up the right suspension for our XJ.

 

I swapped an OME 2" lift over to mine, after I also fitted an adjustable trackbar, it ran rode very smoothly indeed, better than stock

without one, the rear and front wheels will track offset,

steering geometry can be a big issue with higher lifts, you dont want steering components angles altering

 

X3, if you want a stock quality ride with the lift height go with OME. Don't cheap out either get the full leaf packs.

 

If you spend $1500 on a 3" lift it should ride much better than stock. Most good 3" lifts cost half that.

 

I put an OME 2.5" lift from DPG Offroad on my 98 XJ. Rides really nice. Of course it had almost 200k miles on the coils and rear leafs so anything would be an improvement over that. https://dpgoffroad.com/product/2-5-u...mu-hybrid-kit/

 

I have a Rancho lift (coils and leafs) on my 91 XJ. Mine is a daily driver as well so I played around with some different ways to give a better ride on the street and I'm very happy with what I ended up with.

1) I removed the bottom leaf from the Rancho spring packs.
2) I replaced the OE rear shackles with shackles from a full size 94 Chevy Blazer which a about 1" longer than stock and are a direct bolt-on.
3) Later on I wanted a little more height in the rear so I added a 1/2" steel spacer between the spring pack and axle.
4) I have Edelbrock Extreem Travel resi shocks on all four corners. They are awesome shocks, but they are no longer available.
5) The next big improvement to the ride was replacing the tire with some 31-10.50 X 15 Michelin Defender tires. These have a street tread pattern and a soft sidewall and give a much better ride than the Firestone AT's that were on it. Great handling tires and they work really well in the rain.