Yes I have on my 96SR with the more powerful 3.5L dohc engine and 4.6x:1 R&P gears. On the streets it feels a tad slower than normal but otherwise fine. Then again, it doesn't accelerate as quickly as I'd prefer but thats offset by the improved off road clearance. Your speedo will read ~15% slower than your actual speed. For off road use I do plan to upgrade to 4.90:1 R&P's and 3.15:1 x-case gears.
Also IIRC only 94-96SR's came with this engine and possibly(?) some 97 models. Earlier models were 3.0L & later models came with a slightly less powerful 3.5L SOHC engine. I don't know which 3.0L engine came with your LS.