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Consider that a TJ Rubicon came with 4.10s and tires 2" or so smaller than yours, even with the NSG370. Those RPMs are perfect fine to run for an extended period; in some cases (like the 6-speed Rubicon and in the 3 speed autos) they did that from the factory.
Consider that all TJ Rubicons came with 4.10 gears regardless of the transmission. There were three options, all with very different OD gears. Which one was correctly geared?
The 32rh ran about 3180rpm at 75rpm right off the assembly line. That should tell anyone all they need to know about what Jeep considered safe and acceptable.