You'll find that not all 4runners were built equal. Some people can do 285s with a 2.5F/2R lift without having get aftermarket UCAs or do a BMC. Some people go 285, get aftermarket UCAs, and still have to do a BMC. Some people go 285, get aftermarket UCAs, and don't need a BMC.
Each unit responds differently unfortunately.
Most people have to do the splash guard mod, however, and some people have to shave/cut an inch or so of their bumper off. Not everybody, though. Unfortunately, you won't know until you try.
Myself, I have a 2.5F/2R lift, I had to remove my front mudflaps, do the splash guard "mod" (you just push it up and screw it back in place), and I only rub the outer 0.5" of the body mount at full lock so I don't have a need to do the BMC. I'll probably just get aftermarket UCAs in a bit but I haven't had the need for it and the rubbing hasn't bugged me enough. That being said -I rub at full lock with no suspension travel so I'm sure the rubbing would be a lot worse if I give the suspension a reason to compress at full lock.