If mpg is a concern, I would do what I could to improve those numbers (18) with other performance mods. Bigger tires are always going to cause more friction/drag no matter what gear ratio your running. Upgrading to a lower set of gears to make up for the bigger tire size is ultimately what you would want to do in the long run, but don't let it stop you for this small tire size change.
I ran 31x10.5 with 3.27 gears for a long time. It did no harm to anything whatsoever except make me want to go bigger.

No performance change for me, other than a better ride, wider stance and more control on almost all road conditions.
235s are 28.5" BTW. You will need to re-gear the VSS for your speedo & your shift points to be normal. For 31", I changed to the wine 16 tooth right hand gear, bought at the dealer for $3.00. This will help your transmission.
You will be fine. For more power on low end, the 3.73 or 4.10 would be the way to go, but the rig will do great on the HWY. I could run 70-75 mph at 1900-2000 rpms in OD all day long with ease.
As for the steering stabilizer, You wont need one. They are really just a band aid for other problems such as a bad ball joint, tie rod end or both. They help eliminate a shimmy/shake. Just make sure your suspension parts are in good working order and nice & tight.
I say go for it, but this is just one persons opinion, its ultimately up to you
