the front drive shaft may need to be changed, the rear should be fine.

but, if you go with a 3" lift you will need to extend your brake lines, extend your ABS wires, and, i think, you may need adjusted trailing arms.

most people go with a 2" lift to avoid all the above changes.

 

Do any and all maintenance before lifting the truck....your back will thank you.

 

The Discovery 2 is reliable if driven and maintained. The weakest system is cooling as the stock thermostat is 190 and the temp Gauge has only 3 settings, off, normal and blown head gasket.
Fortunately, a long time member of this board has put together an inexpensive kit that seriously helps with engine Temps there's a sticky at the top for the inline thermostat. Install that kit and flush and replace all coolant. The only downside to this super easy mod is if you live in California and you go to have a Smog check, required every two years, and it's cold and you don't warm up the engine first, you may fail the first smog check just ensure you engine is warm. If you live in really cold weather, ih may take 2 more minutes before your heater is toasty

Take pictures and post the here, you'll find plenty of helpful people who can tell you if there are specific fixes needed.