Usually, anything below a 0mm offset is going to be way too aggressive. The trailhunters and pros are on a +25 offset. Other models (TRD Offroad, Sport, Limited, etc. all have all+55mm offset. If you want more stance/poke, you’ll need a smaller tire or to remove mudflaps, crash plates, and pin the fender well back. I've seen the 285/70/18 Nitto Ridge grapplers (33.9") tire fit with no lift or rub, but on a stock offset of +25. These 4Runners are really designed around a max of +25mm offset with 285/70/18 tires. If you want to go with a 17" tire, then look at a 285/75/17 with +25mm wheels and you will be fine.