Hi
I am going to have to say you need at least 2.5" - 3.5" Suspension lift and 2" body lift with extensive front and rear wheelwell modification (read cutting and welding to re form and strengthen what was cut). I run 33"x11.5" tires that stand at about 32.4/32.7 for Summer/Winter tires, winters a tad bit wider. I have a 1997 Sidekick Sport 5d with 4spd Auto Trans, 1.8L engine and stock 5.12 R&P at the moment. I do a lot of Off Road driving as well as "spirited" city driving and I definitely do not like my tires to rub or touch parts of my vehicle under load or articulation. I started out with a 2.5" suspension lift and 2" body lift but decided after installing the winter tires that I needed more lift, so I added another 1". There is still ever so slight touching on the front while doing serious maneuvering Off-Road. The rear has nice clearance once I repositioned the rear housing about 1" rearward, plus cutting and such.
I live in Iceland and we have laws mandating the full tire tread be covered, so I run wide fender flairs/extensions and had to cut and conform the inner fender and outer to accommodate the tires to be legal. I am not sure of what legal issues you might have with your tires though, but you should look into that.
Good luck with your project, I hope it goes well. I can highly recommend the 33" modification, it has made my Sport extremely capable in almost all terrain I have encountered. I can send you a link to my build on the Icelandic Suzuki club web site I am a member of it you are interested.
Best regards,
Tryggvi