Hi Jack and welcome!
31's Are probably as big as you can go without any mods. If you go for 32's or 33's the front tyres are going to foul without doing some kind of lift and even then they'll probably still foul against the foot-wells while articulating on turns. The rear is not a problem.
Not what you were wanting to hear, I know, but there it is. That said, I run 31's and I do some rough stuff along with guys that are all running on 33's - admittedly I scrape here and there where they don't (that's what the sliders are there for) but I have a fraction more confidence that I'm not straining my drive-train as much as what they are. Come to think of it, I haven't damaged any drive-train components (yet) whereas a few of them have. Also some of them are using motors that are bigger than OEM which is also a contributing factor. The biggest worry is that I tend to bump my diffs from time to time, but they're not immune from that either.
Another benefit of the smaller diameter tyres is that crawl speed is slightly lower with slightly more torque. So in essence what I'm saying is don't write off the 31's so easily.
