The rotors increased from 297mm to 319mm with the VSC equipped Hilux with caliper and pad sizes to suit. If your lux came with 17" rims as standard, it's a guarantee you have VSC,
Only some 16" rims fit. It's all about trial and error unfortunately. I have 16 x 8 Dynamic rims in a 0 offset which clear the calipers on my 2015 n70. Method Standards in a 16 x 8 fit as do GU patrol rims. There are a few more around but I'm not certain on the specifics.
As for offset, a +20 will fit a 265 tyre flush with no flares. A 0 offset would sit flush with stock flares if you ever get them. Going to 285 wide will most definitely require flares as well, as the best offset to fit a 285 without scrubbing would be a +10 or 0 which means the tyre will poke out a fair bit more. Also a good wheel alignment with someone who know what they are doing is absolutely required and possibly some trimming as well to the inner guard or body mount, especially if you remove the sway bar.
Remember, suspension lift does not help with tyre clearance! You will still compress your suspension to the same point offroad, regardless of lift. A body lift or guard chop is a different story, but let's not get into that now.
Just be warned 285's will make the gearing pretty tall already on an already tall first gear, plus might affect your crawl speed offroad, depending on how you wheel. You will also need to space your bump stops to stop the wheel hitting your guard.
A safe option if you don't want to do anything too heavy as far as modification goes are 265/75/16 (or 265/70/17 should you not go with 16" rims) as they won't require a huge amount of trimming (no body mount chop required with a decent alignment) to fit and not rub under full compression. There might be a slight amount of trimming to the front mudflaps etc, but that should be it.
The only drama I see is that the stock rims on your SR are 17 x 6 which I think might be too small for a 265 wide tyre. You might be limited to 245 wide on your current rims.
Good luck brother!