When I got my truck it had a 3 inch Body lift and 33's, they rubbed at full turn but when I put new shocks on and did the pinch weld mod they stopped rubbing. I believe the usual consensus is 3 inches of lift to clear 33's without doing a lot of cutting in the wheel well. Since you have a prerunner you can crank the front up 3 inches with a front suspension lift to clear the tires and not have to worry about your CV's like us 4x4 guys do. Add a Leafs or blocks or new springs are the options for the rear lift.
There are a lot of threads about lifting prerunners, look in the Prerunner tech folder and do some searching and you will be able to find what will work best for you.