This ClubFrontier.org post has a lot of good information on lifting this gen Frontier with links to videos, which can probably answer a bunch of questions you might have. If you want to fit 33" tires without cutting the fenders, you'll want to install a 3" body lift and not install wheels with a huge negative offset. I went the cheaper route and with a -12mm offset wheel, so I had some cutting to do.

You need two 19mm wrenches, a 19mm socket, and a breaker bar would help. Make sure the front of the truck is lifted off the ground when you tighten them, and take measurements beforehand as well.

It's recommended to leave at least 1/2" of space between the bump stop and the Upper Control Arm. Measure it when the truck is back on the ground, after rocking it a little and rolling the truck back and forth to get it in it's resting position. I'll eventually be acquiring the Ultra Low Profile Bump Stops as shown above (see Parts List below).

I will eventually be swapping out the UCA's, camber bolts, and bump stops. The alignment tech wasn't able to adjust the camber bolts due to the rust, so I'll probably need to cut them off in order to replace the UCA's. You can get about 2-2.5" of lift in the front without needing to get new UCA's, and after replacing the parts mentioned above, you can get another 1" or so. Be aware that the maxed out lift angled will be harder on the CV axle joints and you will wear them out faster. I always keep an extra front axle and tie-rod in the truck when going off-roading, and since both sides match, you only really need to carry one of each.

An alignment is definitely a requirement once you have lifted the truck to your desired height to prevent tire cupping and premature wear. I purchased the Lifetime Alignment from Firestone Auto, because I knew I'd be going back a few times.

The tech was unable to resolve all the issues due to the above mentioned rusted bolts. The current specs seem fine as it is, as I've got about 6k miles on the current mud terrains, and I'm not seeing any wear issues. I'll keep this updated in a couple thousand miles.