First of all, welcome to this awesome forum where you can get your questions usually answered and it'll be here forever for anyone else to be able to search for way far into the future unlike other social media platforms.
All Dogs Offroad's website actually has the best information which is easy and simple to understand out of all resources I've come upon:
https://www.alldogsoffroad.com/alldogs- ... swap-guide
Unfortunately, there's no such thing as a "minimal Titan/Armada swap" though. Won't be any point of doing this if you won't be spending the coin to get some Titan-swap coilovers. You'll get more "bang for the buck if you run suspension spacers if all you want is the lifted look. As well as the rear subframe drop bracket. Then a body lift. You don't have to worry about diff angles.
Sounds like you have put a lot of research into what you need, which is fantastic, now it just depends on the why you want to do the Titan swap? Performance or looks?
For the front, you'll need Titan swap specific coilovers. For the rear, you'll want lift springs with a shock made for lifts to go with it. Using spacers will just kill whatever travel/droop you just spent all the time and money on. With stock suspension, it's not recommended to go past a half inch spacer anyway. Anything more than that and your driveability suffers the thicker you go with spacers.
I'm fairly new to the R51 myself, so I may be speaking out of my rear end here though so someone else that has more knowledge can correct any misinformation I gave out