Take it from someone who has these exact tires mounted on their 5th Gen 4Runner; you will need to do everything in the book to make these fit properly.
You might have a higher tolerance for horrible rubbing noises and tires gouging out your fenderwells, but if you're anything like me you'll need to get some work done or you will be hating life.
The 295/70 R17 is basically a 34 x 12.5 and are noticeably different than your standard 285/70 upgrade in terms of how much contact they will make with your 4Runner.
Here's a list to give you an idea of what I had to do to avoid these tires making contact with my vehicle with a 3" lift and 8" wide 4" backspaced wheels with no spacers:
AllPro UCA's with 5+ caster dialed in - you are going to need to push the wheels ahead as far as they will safely go.
Body mount chopped as far back as it will safely go
Front bumper installed to clearance that end, otherwise front fender well mod will need to be done.
Should go without saying that the mud flaps have been removed.
This got me to the point where I could use forward and reverse gears with only occasional rubbing while on pavement.
To avoid tire contact during suspension articulation and full steering lock, further and Extensive modification (cutting, grinding, hammering and material replacement) of the rear of the fender wells was required.
See
THIS post from my build thread, as well as
THIS one.