Suspension mods and alignment numbers are always a case by case basis, even the advertised range is still something to take with a grain of salt in my experience. One guy will get 5° and another can only get 4.5°; just how it goes it seems.
That being said, I would have them inspect your lower control arm tabs, it's possible they are a little flattened out; even a little bit of bend/flattening of those tabs will rob you of adjustment. Usually it's the tab on the back of the front bushing mount that gets flattened out the most frequently. It wouldn't hurt to have them looked at and maybe even reinforced with some welds or a whole new tab kit like from Total Chaos if you plan on wheeling hard.
Additionally you probably don't need 4~5° of Caster if you're only running 285's/33" tires; the main reason most people go over 4° is to get the tire to clear the 2nd body mount at the firewall. I run about 6° to clear my 35's after doing a body mount chop on my 4th gen; but when I was running SPC UCA and 285's I put my caster at about 3.5~4° and called it a day.
I would shoot for something around 3.5 to 4° Caster with -0.5 to -1.0° Camber with maybe 0.02 to 0.04° additional Toe-In over factory specification for the best tracking and tire wear. The slight negative camber is to help offset Toyota's tendency to eat up the outer edges of tires and help "flatten" the wider tire; though you also have to take into account the type of tire you're running, the rim you have it mounted to, the tire pressure you're running, and the capability of your suspension to manage the extra unsprung weight. That being said, it's my rough guidelines I like to apply to most of the lifted Toyotas I see and is usually attainable if they have some decent UCAs.