You can use 3.55's on the road and for real light off road. But what motor is saying is that they're not economical, mpg stinks, the engine/trans will be working harder than it should. 4.10's are sweet for 33's.
There's a wing nut here in town with an xj he licked up the axles and runs 35/12.50's on 3.55's, he gets stuck all of the time and gets 8 MPG in town. Yes he can still do 80. But it takes 2 years to get there and over heats.