presuming it has ABS, you will likely be limited by the wheel/tire combination. (with ABS, you should never hear a squeal, as braking becomes less efficient with the tires locked up and sliding)
The road rally guys do stuff like synthetic brake fluid, but they are hard on the binders continuously, if you are in a Trooper (doing that), then you are in the wrong vehicle.
Quick & dirty rules:
Don't haul around junk in the back, more weight = longer stopping distance
If rotors & pads are worn excessively, replace rather than have the rotors cut (below a certain point, thermal performance suffers - not enough "meat" left to avoid overheating
Reduce rotating mass (this wins on accelleration & braking) - wheel change typically required. The "sweet spot" (min weight for a given overall OD) was somewhere around 16-17" wheels, if I recall my conversation with a GM engineer from a few years back correctly.
Look around at wet & dry braking performance of tires (the Tire Rack used to have gradings, IIRC) along with treadwear & temperature ratings.
FWIW, I did all that stuff for my Blazer & figured it wasn't worth the $$$ to get a set of Weld or Centerline wheels, so kept the stock aluminums and went with Goodyear Forteras. (of course, we have to deal with snow up here, which may not enter into your equation) Michelins were equal but I will be damned if I will give the French a $ more than I have to.
You can also check the shocks & springs if it is older, but a Trooper is not a car where you should be gettin on it.
I would not cross-drill or slot rotors in that vehicle unless I was really really into it.
Use name brand (not generic) semi-metallic pads, if that is what is called for.