99 TJ Wyoming: you need to limit steering travel slightly to avoid what you have going on. Just adjust the stops on the knuckles out a tiny bit at a time until you stop rubbing the control arms (and frame in the froont too I bet)
There is absolutely NO need for 2.5" BS to run 12.5 wide 33s. With TnT flat fenders, I did it with no suspension lift/ 1.25 body lift on 3.75 backspacing. And with a centered rear axle, no rear rub, even with an 8.8. And yes, I wheel it, and no, it doesn't have a front sway bar to limit articulation.
Yes, mine flexes better now with 2.5" suspension lift and 35x12.50... but with a TINY bit of steering stop adjustment, you'll be a lot happier.
97 TJ Sport - 4.0/HP D30 w ARB/8.8 w LS/4.88s; 35s and flat fenders on 2.5 lift
84 CJ7; frame off restoration in progress.
The technical advice you get from me here is worth exactly what you paid me for it. Warranty issues will be reimbursed at double what you paid me for the advice.