A slip yoke eliminator (SYE) replaces the slip yoke output of your transfer case with a fixed yoke, enabling you to run a rear driveshaft with a double cardan (CV) joint. Its purpose is to prevent driveline vibes when you lift the Jeep. Motor mount lifts kinda serve the same purpose, they angle the driveline so as to reduce vibes... the other method most commonly used for vibes is a transfer case drop (spacers placed between the transfer case skid plate and the frame to alter driveline angles).
Sway bar disconnects are used so you can keep the bar connected on road for better handling, then disconnect the sway bar for off road driving to increase articulation. Having increased articulation means your suspension will flex better and keep the wheels in contact with the ground which aids your traction (it reduces having a wheel lifted in the air).
To clear 33" tires without fender trimming, it's recommended to run about 3-3.5 inches of lift... you can do that with a straight suspension lift or with a combination of suspension and body lifts (ie run a 3.5" susp lift or a 2.5" susp and 1" body lift). Running 33" tires wider than 10.5 inches will require either new wheels with less backspacing, wheel spacers, or some creative clearancing in your wheel wells with a BFH.