I did it a couple weeks ago in my 02. Remove the running boards for sure. I've got 265 70 16 BFG AT KOs, but no lift.
The only area that took a beating was my spare tire and trailer hitch. The spare is a highway tire, so I am suspect of its integrity now.
Anyways, no real problems on Broken Arrow. The steps aren't bad, just intimidating to look down. When I was headed out there was a 4th gen coming down from the steps (where the trail merges back to two way traffic) that appeared to be stock as well.