I am running 33s with no lift. It all depends on tire width, wheel width and wheel offset. I guess the height of the vehicle from the factory is a factor also.
I did do a 1.5" T-bar crank to get a little lift up front. I had to bend the front mud flap brackets to get clearance at full turn. My tires are also 10.5" wide with the stock FX4 15x7"alloy wheels. I get no rubbing at all even with extreme articulation off-road. I don't think I have had the combination of full turn with full articulation yet but I doubt even that would be a problem. I have sway bar disconnects with limiting straps up front so I do get quite a bit of travel in the front suspension.
I prefer to not have the truck too high because it raises the center of gravity and can cause difficulty in some of the terrain I travel. I also carry considerable weight because I am off-road for extended periods and need to carry a lot of stuff with me. The combination of lift and weight are not good when traversing steep side angles. Wider track helps but then you go back to needing more lift. Wider track causes more stress on the wheel bearings making them more prone to failure. That is something not desirable in extended off-road travel. There are advantages to lifts but mostly not needed for me so far.
2002 FX4 Bright Red Supercab 4.0 SOHC, manual 5-spd & Tcase, 33" BFG MTs, K&N air filter, Modified air box inlet, Gibson SS cat. back exhaust, Bama flash, Hidden Hitch round receiver, Rear helper air springs, Electric trailer brake controller, Line-X bed liner, WAAG bar with KC lights and Wildernest shell.