Depends on what they mean by "cover". If he means the suspension is covered by warranty then yes, that's correct - Toyota won't warranty an aftermarket suspension (obviously). If he means getting a lift will void your warranty all together, whoever you are talking to is blowing smoke. Toyota can't void your warranty because you modified your vehicle.
David
Toyota won't cover aftermarket components under the factory warranty.
Also David's statement is partially true.
They can deny a warranty claim IF they can PROVE the aftermarket component caused a factory component to fail. (With how Toyota is being about warranty these days, it can end up being a pain in the ass battle with them as some members have found out, even on factory items)
They can also deny a warranty claim IF you modify and/or damage a factory component as a result of your modifications. i.e. cutting mudflaps, trimming body components, removing parts, ect ect.
I'm not trying to scare you away from doing mods, please feel free to mod the truck how you like; its YOUR vehicle and we on the forum will be more than happy to help you get it how you want it. I just want to make sure you understand where your stand on the warranty side of things as it becomes harder as a customer/owner to deal with the manufactuer when it comes to factory warranty when you start modifying things. I would find a dealership and service writer you can trust and really work with who will go to bat for you if the time comes to file a warranty claim (my coworker who worked with our dealership for a while as head service writer knew his **** when it came to warranty and loved modifying his cars so I had him handle all my extended warranty claims because I could trust him to not get bogged down in their BS.)
I wish you the best of luck!
Post Note-
In regards to the tires, you need to take into account which 285's people are talking about. Even though the tires are the same "size" on the sidewall, the physical measurements can be different from one brand/model to the other.
P285 just describes the width of the tread surface, not the width of the tire sidewall to sidewall. Not all 285 width tires are the same over all width, and its usually the sidewall width that causes the rubbing issues which is not measured in the standard tire size.
The center number regards the aspect ratio which can be different because it is calculated as a function of tread width vs. tire height, but usually follows the rule that the larger the number, the taller the sidewall. i.e. a P285/70R17 tire is shorter than a P285/80R17 tire.
Finally, you have the wheel diameter which obviously impacts the size of the tire, a P285/70R17 is not the same size as a P285/70R18.