Did a ton of reading here and decided to try and fit 285/70/17 BFG KO2 tires on my 2013 fully stock SR5. Long story short: They fit just fine! No rubbing and no issues so far. Mind you, I don't know how they will behave off-road but I rarely go off road so I am not too concerned.
Tire shop didn't want to put them on stock wheels, but I asked them to try and it worked!
Will get pictures later.