How much are you willing to spend, and are you willing to take a significant amount of time and effort to set it up? You're probably looking at 10k in parts to do it right the first time. $5k to get you road worthy on 35s, $5k to make it work well and survive the trails.
I chose the route of a Savvy 4" SL and 1.25" BL. That is a great start for 35s. You'll need trackbars, shocks, and a bunch of other components with it as well.
You'll need to beef up your axles to handle 35s. If you have a rear Dana 35, you should look into the "Super 35" upgrade. If you have a rear Dana 44, upgrading isn't as necessary. The front will need chromoly shafts if you're not willing to risk a broken shaft. Rear chromoly shafts for the Dana 44 are a good idea.
You'll need to regear. How urgent this is depends on which engine, transmission, and gear ratio you currently have. A 4.0 with NSG370 and 4.10 gears will still be decent to drive, but the same 4.0 on the 42RLE and 3.73 gears will be abysmal. The optimal gear ratio will depend on tire size, transmission, engine, and possibly axle type. You'll probably also want lockers front and rear. Best to do that at the same time as the regear. Installing them together will save you on the order of $1000 in labor versus regearing and adding lockers separately.
You'll need to do some driveline work. In the rear you'll need a slip yoke eliminator (unless you have a Rubicon) and a double cardan driveshaft.
You'll need to figure out a stronger tire carrier solution. I chose to get a tire carrier bumper.
If you're willing to weld, the possibilities increase greatly from there. Four link and three link kits (Savvy and Genright) for the front and rear axles can improve on and off road handling. Long arm kits can increase suspension travel, but at the cost of poor handling in specific scenarios. (Most long arm kits are not popular on this forum.)
You'll want to upgrade the brakes. The Black Magic Brakes Vanco big brake kits are very popular on this forum. The standard 15/16" kits are very popular for 35s. Larger kits are available if you need excessive performance for towing or mountains.
Depending upon your wheels, you may also want new rims. Ideally a 15x8 or 17x8 wheel with 3.75" of backspacing would be used for 35s. 16x8 can also be used, but you'll be stuck with stiffer load range D and E tires. I chose to stick with 16", but it may not be the best solution for most. Wheel spacers can also be used to achieve the correct backspacing. (Be sure to get a quality set if you choose that route. If they fail it could have disastrous consequences.)
As to being able to drive on the freeway, it's all about how you set it up. You have to be willing to sit there and fine tune everything to get rid of all the vibrations and oddball steering characteristics that come with altering suspension geometry. As of right now, I am comfortable doing 80 mph on 35s, and hope to get to the point where I can pass at 90 without having a heart attack. (I don't want to do 90, but I'd rather not get stuck in oncoming traffic passing someone who suddenly remembered they wanted to do 80. )
My recommendation: start with a quality 4" short arm suspension lift and 1.25" body lift, RS5000X shocks, 35" tires, and build from there. Once you get all the necessary upgrades (axles, gearing, brakes, etc.) then you can consider going to a weld on suspension kit or other modifications if you see them necessary. (Unless you get into some serious rock crawling, they probably won't be necessary.)