There are many different options for lifts it is going to depend on what it is you want to do and how large you want to go for tires, if you want to go up one or two tire sizes from stock you might be able to go with a body lift or slightly larger shackles, if you want to go up to 31" tires or larger then I personally would recommend going with either larger springs if it is still spring under or going with a spring over axle setup. When thinking about lifts you also need to look at your ability to do the work or the cost of a shop doing it for you. One of the best things to do is check the vendor sites like "Trail Tough", "Low Range Off-Road", "PetroWorks", and even "Rocky Road Outfitters" they all have many ideas there and will show you the costs of lifts. As far as highway use you need to look into wider tires to help stabilize a bit, also your driving style (you can turn fast in a Zuk but to fast and you could lay it over I have never seen it happen with a Zuk from turning to fast but its possible).
I have not heard to many people complain about any lift being unsafe at highway speeds, normally when there is an issue it is not from the lift itself but a single component that is not right or is worn out. A lot of the time though the stock drive-train on a Zuk does not always agree with larger tires at highway speeds, I run a 31/10.50/15 tire and I can barely get up to 60MPH (course that is in 4th gear in 5th I will actually lose speed) and I still run stock gears for now.
I have also found that when choosing a lift it is best to go with the options you yourself want, cause we all drive differently and some people feel bumps when others don't it is kinda hard to tell you do this lift or that one when we are not the owner.
http://www.lowrangeoffroad.com/suzuki/samurai.htmlhttp://www.trailtough.com/index.php?option=com_virtuemart&page=shop.browse&category_id=43&Itemid=53http://www.petroworks.com/suspension.phphttp://www.rocky-road.com/zuksus.htmlHope this helps you some, good luck and let us all know what you do and don't forget the pictures. 