It's sure interesting to see all these different opinions. All seem valid and bring something positive to light even though they're so different.
I do agree to find out EXACTLY what you have FIRST. This way you can compare apples to apples. In 77, 4.10's were pretty common in the K20's, and 3.73's were next as far as common. It would be a shame to regear to 4.10's to find out that's what you have in it already.
If you do have 3.73's already, I don't see 4.10's giving you the performance you're going to be expecting. Basically, all you're doing is adding a little over 1/4 turn, increasing driveshaft turns to 4 full turns from 3.75 turns. See what I mean? Very little difference and not worth the expense IMO. So if you're looking for a performance gain based on gear ratio and paying to have a gear swap, then I'd at least go to 4.56's and I'd be OK with since you mention you don't or very rarely drive it on the freeway. For the occasion that you do, so what the motor may be screaming at 3,000 cruising rpm. But then you can get into more expense to go 4.56's too. Cut off on the carrier for a 14b FF is 4.56 on down, and 4.10 on up, so to go 4.56's you'll need a different carrier and more expense. Dana 44, I think you're still OK on the carrier split IIRC.
Regearing isn't cheap, especially considering you have to do 2 axles. What you might want to do if you do indeed find out that you have 3.73's, is just keep your eyes open for a set of used 4.10 axles. If and when found, you can usually pick up the complete sets ready to bolt in for $300. Sure they're used, but 14b FF rarely go bad, and if they say the Dana 44 or 10 bolt front is in working order, good chance that it really is. You'd want to pull the covers anyway and spin the gears around and look for shipped or broken teeth. So that's my big suggestion. #1 find out what ratio you have now. If it's 3.73's like you think, then just keep an eye out for some working condition used 4.10 axles. Then you also have a spare set of axles that if you choose, you can probably sell the for what you paid for your 4.10 axles, or keep them for spares. They don't take up that much room, out behind the shed, and lean half sheet of plywood or tin siding up against them to keep the majority of the weather off of them.
Someone brought up 2 points. That 35in tires aren't actually 35, they are 34 when mounted and on the truck. This is true, but with radial tires, they do grow with centrifical force and they will grow to at least 35in, maybe even 35 1/8 inch at freeway speeds. Also brought up the chart is lying and not taking into consideration torque converter loss. And that is true. Unless you've got a lock up converter, that chart would be 200-300 rpm off in top gear of any automatic transmission.
Someone else brought up not being able to do a burnout due to being Full Time 4x4. That is probably true too. And in all honesty, wanting lower gears just to be able to do a burnout isn't really practical. Especially without having and OD, you should be wanting running the tallest gear possible based on what and how often you'll be towing something unless its a competition vehicle. You've got a fairly strong transmission so not much need in trying to take the strain off it like we need to do for a 700r4. So even the 3.73's are practical for you. Keeping in mind, an NP205 is almost a 2:1 crawl ration is 4 LO LOC, that now makes your final ratio real close to 7.46:1 to the rear wheels. So if you're climbing a steep hill or pulling a tree stump, that 7.46 is going to be to far off of just over 8.20 if you had 4.10's. All you're looking for is enough gear to get the stump out or up the hill, no reason for overkill. Even guys running 3.08's in K10's can get by because when they get off-road they can multiply the ratio by 2 with a NP203 or NP205 to a right at 6.00 crawl ratio and the later trucks running NP208's are getting to multiply that 3.08 by 2.6 IIRC.
Just putting that all out there for consideration. I'd hate to see you spend bookoo bucks and not get the satisfaction you were expecting.