I'm not awake enough to recall the factory G55 offset, but generally speaking, if you do a 30mm spring spacer you can clear a 33x12.50 tire without issue on the street. The only thing you might have to play with is the wheel spacer on those replica G63 wheels. I just went through this drill with another G63 that had 33s on factory wheels, and I want to say we ended up with a 21mm spacer on the front wheel to clear the steering box arm at full turn. The fatter tire was rubbing on it when you went full lock. The wheel spacer got it far enough off the arm to not rub, and it cleared everywhere else. The G55 might sit a touch lower, but if you do a 30mm spring spacer I think you will be fine. Lots of options in 33" AT tires. I personally like the Toyo AT2, and the new Mickey Thompson Baja Boss AT. The Mickey has a nice aggressive sidewall pattern. They make lots of options in the Baja Boss around 32"-33".
275/55r20 (32x11.00)
275/60r20 (33x11.00)
285/55r20 (33x11.50)
295/55r20 (33x12.00)
33x12.50r20
305/55r20 (33x12.50, but load range F)
You could play it safe and go with the 275/55 size, or make it a little more aggressive with something like the 295/55 or 33x12.50. Or, something in between if you are concerned with rubbing.