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Hi Steve, and welcome to FTE.
To answer you in short, probably not without a slight tweak to the suspension.
A 30x9.5x15 will fit with no worries, but if you have any rear suspension sag (common on gen 2 Expl's) then you'll likely rub the 31s with any kind of flex, mostly due to the extra width.
A small torsion twist up front, and an add-a-leaf or shackles in the rear and you should be fine with 31s.
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