You should be fine w/the 35's and some body protection, what bypasses you use are up to you. My buddy took an '85 runner on the Con last fall, all he did was install his bumper/winch from his rolled Rover, fabbed up some sliders, and cut the fenders to clear some beat to hell 35's. Ran it with very little issues.
If you have to stack a rock here or there or need a strap, that is all part of wheeling. I have spent far more time waiting for broke rigs to get fixed on the trail, then for someone getting unstuck.
Since you are running stock gears, you could just pick up a cheap 3rd and weld it up, run it, and then swap back to the open for the street. It would be a PITA to do this every time, but if you only expect to run Rubicon once this summer, it wouldn't be that bad.
