I have a 94' Jeep Wrangler SOA on 35" tires, that have ARB Lockers front and rear. So for me its learning how to correctly use these things and minimize any potential damage I could cause to the axles and diff.
you are not in a bad spot with your set up. It seems like '93-'94 is when the dana 30s went to the bigger u joint and driven reasonably should last you a long time with 35" tires.
Now back to the locker talk. Personally I don't like ARBs because there are too many parts to fail and leave you stranded. BUT that is just personal opinion. A lot of guys, Kurt, Team Fred, etc love their ARBs.
I would suggest as a general rule, if you are on the street/pavement, leave your diffs open, or do not use your lockers. There isn't a need. Your jeep will drive better, steer better, you will like it better.
Next: mild trails, I would probably just engaged your rear axle. Added traction will keep the need for extra momentum low, while keeping steering more friendly.
Next: Obstacles, if you can't make an obstacle with just your rear, try your front before you try rallying it. Most times the added traction will keep things pulling vs spinning.
Note: For the most part tire spin is bad. Especially bouncing or sudden traction. That is where things break big; Axle shafts, u joints, drive lines, t case gears or yokes.
Lockers are your friends but keep in mind to use them for a purpose and you will be fine. A stock rig without lockers/traction will likely spinout before you get where you shouldn't be. A rig with lockers/traction, will likely go where you point it, even if it is a bad idea, and hence a better chance of rolling, etc.
good luck