Unless you plan on doing a lot of hacking you need at least 6" to clear 33" tires on a Sammy. I run a low lift, but both my rear and front fenders have been modified. I do have some old pictures somewhere of when I was running a straight SPOA with 33" tires before I picked up the offset wheels. Those tires tucked up tight!
The reason to go for a panhard bar is if your having steering problems. The problem is you end up limiting your flex if you have a really flexy suspension. Unless you have problems with wander and really loose steering when driving down the road or find that you can't steer when flexed out due to your suspension soaking up your steering you probably don't need one.
What sort of steering issues are you seeing and what is your current setup? Power steering and full high steer kit or just a long Z bar?