[MiraclePieCo]

At 6-1/2" transmission and 7" running boards, you don't have to worry. That's plenty safe for normal driving. If you're worried about your trans pan, you can install an aluminum pan; they are heavier gauge and more dent-resistant than sheet metal pans. BTW, I'd much rather have my trans pan hit the pavement than my front fenders (behind the tires). Trans pans are easy to change, front fenders not so much.

Here's my pickup with 5" clearance at the front of the running boards, 6" at the rear. I drove it for two years and it never touched the ground ever.