I've not done it yet but, really want to.
yet being I love playing in the mud most people tell me that I'm better off with a V6 Gas engine than a turbo Diesel 4 banger?
I personally want do get away from smog checks, being I live in Calif.
Yet I must have the on foot demand throttle response to get me through the mud with alot of the fun I do...
Can we get past the LAG?
& how do I hot rod the VW 1.6t to the level to impress the V6 guys?
There's quite a few Samurai folks here... some of them will probably respond to this thread, but if you search for "Samurai" you'll pull up some good conversations.
In terms of reducing lag: common practice is to use the smaller stock turbo (K14) or any number of available variable nozzle (VNT) turbos... again search will be your friend, particularly for VNT discussions.
I don't mud myself, but I do know that I drive
torque, while listening to my friends prattle on about
horsepower.
search for "Samurai"
I just did & all it showed me was this thread....
Your best bet is to swap a 1.9 head on and a VNT. You won't get the revs up very high, but you can hit the mud in 3rd and carry it well. This is what my buddy does in his mitsu Pajero. Its a little trickier, but with the revs up and the boatload of torque from a diesel you can go deep LOL.
My buddy goes mudding with his lifted tracker (like a samuri but not as cool

) and when ever drove my car up wheel ramps he drooled over the torque.
He is looking for vw diesel to build a replica of my engine. 20 + psi with 2 inch or bigger piping and the torque is off the chain yo. Intercooled and im sure it would increase that a lot.
search for "Samurai"
I just did & all it showed me was this thread.... 
Searching on "suzuki samurai" got me two pages of hits.
A go with for that V6 swap....

I have a 1.6td in my samurai. Unfortunattly I was unable to run a tank through before I had to pull the head off for a headgasket replacement. (still haven't got it back together)
Fuel consumption is far better than with the gas engine (my 1.3 was pretty tired) and it does have the torque to carry where the gas engine would fall on it's face when climbing hills etc.
In it's stock form, the 1.6td motor is no rocket but does pretty good....