Nope....I have a cop that walks our lot in the evening that is also an offroader and I've talked to him several times. I asked him about mirrors (only need one) fenders etc and nothing I have done is illegal. I think there is something for bumper height, but nothing that we as Jeepers should ever have to worry about.
A buddy runs the Smittybuilt XRC fenders without issue
2008 Unlimited Rubicon
3" BDS Lift
40" Nitto Mud Grapplers
Lots of things to come