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there are quite a few people here with awd and staggered setup, it's not a problem as long as you do it right, maintaining close front and rear overall diameters
as stated by rominl and ek9vboi, you can run staggered on AWD. the diameter of the wheels has to be the same - 245/35/20 and 275/30/20 for example on a 8.5" front and
10" rear. the height makes no difference (within reason) as long as the front and rear are the same. width has no bering, other than rubbing. when you start getting into 21 and 22" wheels, you will start having issues just from being so far out from factory specs.