What’s the rear diff ratio? I used to own a Jeep TJ, no G55, but with trucks as well, a rear ring and pinion may be necessary to change ratio. Usually 3.73 or 4.10 to reduce tranny, axle shaft, transfer case stress on 33s. Even in a lifted F250 etc due to weight plays a major role for re-gearing along with increased rotational weight. 35 inch tires usually required 4.10 minimum depending on axle shift diameter size along with the size of ring and pinion. Not sure how it is with lifted G wagons as I’m sure the entire suspension setup is different compared to a solid axle design. If you’re raised at all or too high I’d also look into the geometry and take measurements and compare to OEM specs as usually lifting will shorten the wheel base ever so slightly (depending on location of control arm mounts), but enough to require Adjustable control arms etc to push the wheel base back into spec which can play a role in steering issues. On jeeps usually anything under a 3-4 inch lift would be ok with minor mods besides shocks and springs r/t geometry. I understand it’s a different beast all together, but suspension geometry that’s off no matter what vehicle may accelerate component wear at an extreme rate. Also check the transmission output shaft and the degree of angle to ensure it’s not overly stressed as that can cause issues as well. Take all of this with a grain of salt, but suspension geometry is crucial for a proper lift. Not often you see a properly lifted Jeep these days done right, again, if greater than the 3-4 inches would run around 5-6k+ Easily. But if all else is in spec for you I’d def research a properly sized ring and pinion (front and rear) with a retuned tranny to save the transmission over time.
Edit: if this is for play then I’d def look into all of that...if it’s a mall crawler then I wouldn’t worry too much, but still may be wise to check into proper gearing at least.