You are most likely to avoid rubbing if you re-use the stock rims instead of going to 16x8's or whatever. You won't need new control arms. Those are entirely optional (I still don't have them). Some people have actually used a grinder on the tip of the upper control arms to give a little more space there. You will most likely need an alignment after installing the lift and before you can fit 285's without rubbing.

I don't know if you will rub on the front of the running boards since I never had running boards.

You will still likely need to hammer or cut the plastic cover and the metal of the pinch weld/body seam that's at the rear of the front wheel wells. Otherwise, you'll occasionally get rubbing when you have the wheels turned halfway and go over a bump or curb. You also might need to trim off just the tip of the front bumper that extends into the wheel well. And you'll need to remove one screw on each side from the rear wheel wells which holds the fender trim in place - otherwise that screw head will gouge into your tire tread on compression. None of this is very visible, so go for it.