The 36s WILL rub the lower control arm. The WILL also rub the inner wheel well in front (the flat section in the back) before full stuff. I know this because my 315s do that (34. 8" tall).
Some posts have said a 2" level kit eliminates the control arm rub, but I don't see how. Only lowering the bump stop will stop the wheel well rub.
If you're just driving on the street, the only rub you will probably experience is the control arm, just before full lock. If you are doing off-road driving where wheel travel will be important, I think the 36s will be too tall without a lift and bump stop mods.