You could get away with some small spacers to move the tire out away from the body a bit, but would recommend a set of wheels over a spacer if possible.
There's tons of options out there, most being able to hold up to what you are doing with it.
Some popular brands are Method, Black Rhino...
We had a CrawlTek bumper installed on one of our employees vehicles. Did everything you are asking for.
https://www.trailbuiltoffroad.com/store/exterior-accessories/bumpers-and-accessories?brand=CrawlTek