Yes, I would install a SYE and CV (constant velocity) driveshaft on any TJ that has a 4" or taller suspension lift. Some run their 4" lifts without them but they had to do a lot of stuff I wouldn't recommend doing to avoid the cost of installing them.
Tom Wood at www.4xshaft.com/
has a nice kit with both of those that I heartily recommend. His pre and post-sales support is really unsurpassed as well, he's a good guy to talk to for sound advice on this. If you talk with him, and do ask for him if he doesn't answer the phone, please let him know I sent you as I owe him for past favors.