No mate on a GU you shouldn't need castor correction until you go to a 3-4" lift.
Always a good idea to upgrade this after the first 100,000km, especially if it's still factory. Whilst it may still be doing it's job, if you add muddies or bigger tyres it won't be as effective as an aftermarket unit.
Short answer. All of them. Longer answer. I'd start off with your bushes in the front. Tie rod, panhard, drag link, sway bar. I'd also get your wheel bearings checked and tightened if needed.
On the rear, I'd get your upper and lower trailing arms checked for their bushes along with the panhard at the rear.
We do a range of lift kits for the GU's. Based off your stated needs and mods our constant load kits would suit you well. And you would have a choice between our foam cell and nitro gas shocks (I'd probably go Foam Cell if you plan to take it offroad much). We also do extra like steering dampers, adjustable drag links etc. A well matched kit of ours will provide an excellent ride, both on and off-road.
Your GVM won't change as a result of doing a suspension upgrade. A GVM upgrade is something different (essentially a suspension upgrade with an engineering certificate). What a suspension upgrade will do is allow you to carry that weight more easily, providing a better ride and control, without the sagging you would otherwise get with stock springs - plus you get better clearance and flex as a result of the lift!
If you have any other questions I can help out with, give me a yell, either in the thread or via PM.
Cheers,
Matt
Ironman 4x4