Do I need longer driveshafts with a 3.5" lift?

You'll need a double cardan rear driveshaft assuming you aren't dropping the transfer case. It's length will be different than the stock driveshaft as well.

Your front driveshaft will remain unchanged.
 
On our '04, we have a 3 1/2" lift and run 33x12.50 15's and a 1" TC drop. After a some time, I began to feel a vibration under the driver's seat. When I went underneath and checked everything out, I found that I could move the front DS about an 1/8" in each direction up and down at the slip joint (the 'U'-joints were fine). When we pulled the DS out and took it apart, we found that there was a significant groove in the splines caused by the front DS being constantly over extended due to the lift. While you can run the stock front DS, it will eventually wear out and need to be replaced with a longer one.