Here's a video of my friend with a 3" lift and old BFG AT 265-65-17 at the toughest section
www.YouTube.com/watch?v=wshc8CAiHpo
Awesome Vid! Based on this, my brother's stock Commander may have an issue... Trying to persuade him to throw on a 2" BB and mount my Rubicon take-off BFGs. That should make it.
Yeah that was fun to watch in person. The issue was more lack of wheel travel than clearance. Just make sure someone passes the obstacle before the stock commander so they can tow him if needed.