I've never seen a 4.3 in a 4x4 p/u before. But I guess stranger things have happened. I had a '98 2wd for years that had the 4.3 in it. I had that dude loaded down with ladder rack (1-32' extension ladder, 1-6' step, 1-8' step), deep crossover box packed full of tools, and a bed full of material quite often. I never noticed much of a need for more power. But then again, I didn't have all of the parasitic drag that the transfer case and front axles are giving you either. Which brings a question to mind.
How tall are the tires you have on it? Large tires will alter the final drive ratio. If you've got big honkin' mud tires on it, that might be your problem. The motor just doesn't make the needed low-end torque for the gear ratio you have.
Like Mirage suggested, you could lower the gear ratio in the front & rear end, and it would help (especially if you have large tires). Mileage will decrease some. And I also agree on the air shocks or an air bag system to get that ride height where you want it. I use the air shocks on my old '71 chevy. They work great to get my ride height back up when towing or hauling. The also help to take that squirming feel out of the rear of the truck when hauling or towing.
Another option to get more hauling power would be to do some motor mods. There are all kinds of parts you can get to accomplish this. Most by themselves will not make a huge difference. But several of them coupled together can have a noticeable impact. You can get computer chips, headers, oversized throttle bodies, do a cam swap, under-drive pulleys, and much more.
Or you could yank out the motor you have, have it rebuilt, and mod that baby out while doing so. Higher compression pistons, larger cam, larger throttle body, headers, free flowing exhaust system, and have the computer re-mapped to account for these changes. All these combine to make a much better breathing engine. You'd likely come out close money-wise doing a v-8 swap. It'd also probably give you more HP than the stock v-8 would.
Another option, if you just really want to do the swap is to find a wrecking yard and snatch up a v-8 that will swap right into your truck, and get all of the accessories with it. But then you're getting another engine that likely has high mileage given the year model and the changes made since your truck, and the donor, were built. This is a very do-able swap. The transmission should bolt right up and work just fine. You'll just need to get the computer, fuel injection system, and all the goodies with the v-8 engine.
Jay