You might be interested to know I have not sensor lifted my AHC at all. Granted my tire size does require some massaging of the fender liner. A 285/55r20 should fit perfectly without any mods.
On an IFS suspension vehicle, lift really doesn't have anything to do with clearance. The suspension stroke remains the same, i.e. full compression and full extension are the same. Only the neutral point changes. The tire still has to clear completely through the suspension stroke because what good is it if it clears at nominal ride height, only to get hung up when needing to articulate.
As you said yourself, you practically see all highway miles. Why would one trade on-road performance and safety where one spends majority of their time. My preference is for balanced upgrades, to gain performance in all use cases. Which is also why I won't drop down to an 18" wheel. 20" wheels have benefits to on road performance and stability, especially under tow. 33" and larger diameter tires on 20s will do absolutely great off-road except for the most hardcore.
I was stating that the offset and width of the stock wheels with wider and taller tires definitely plays a factor when it comes to clearing the UCA and everything else. If you don't lengthen your arms when you lift a standard IFS vehicle you will lose track width which is why so many people use wheel spacers or LT kits, this obviously isn't a factor on a straight/live axle vehicle. My argument was more or less about losing travel with the AHC sensor lift mod. Like yourself I have elected to leave mine in the standard neutral position and I occasionally put it in high when off-road.
I agree that 20" wheels have better handling when on road when compared to a smaller wheel size, that's obvious. My suggestion of moving to a smaller wheel was in reference to those that choose to modify their vehicles for better off-road performance and that will use them off-road in a larger percentage than your average owner. Not only is the larger sidewall beneficial for ride quality off-road, it helps to reduce pinch flats, it provides more depth when aired down and there are usually more tire options and more affordable prices in the smaller 17/18" sizes.
For someone like myself, who at this moment in time spends 95% of my time in the LX on road, the stock 20" wheels make much more sense and the AT's are a benefit for when at the beach, the ranch, hunting, and admittedly for aesthetic purposes as well which benefits my personal satisfaction and helps to shed the suburbia soccer mom luxury SUV look.