The factory tires are 33's, for example with 20" rims the 275/60(%sidewall profile of tire width) it's a 33" tire with factory sra's.
You can go to a 65 series tire (for a 17" rim just the same, add 5 profile) which is roughly a 34 and still clear everything without any rub. Speedo's off just a few MPH.
Though with air suspension and in entry mode I'd expect some rub in the wheel Wells turning Max.
35"s do need a leveling kit but not a total lift.
Hope this helps if anyone is still questioning it!