You very well might get the clearance you're looking for. Usually 1-2" of lift is all that's needed for 31's. For driving on the street I'm sure your shocks will still get you around, but without measurements I can't tell you if they'll be ideal.
Looking up your part numbers, and knowing rancho's run a little long I'd say with H&R springs, which will probably net you 1-1.5" of lift, those shocks will be just fine.