The easy answer is yes, but of course it is all about how YOU feel. Most discussion on this subject agrees that, especially with a 4 cylinder, there will be a noticeable change. How much change is the question. You will notice it the most on hills, or pulling a lot of weight, or towing. Braking is affected, as well.
Have you thought about 235 85 16? It gives back a little in rolling resistance, can do some things better than 285, and also is a near 32.
I switched to 235s on my V6 '98, and noticed a very slight change in both pulling power and braking. The popular opinion is that going to 33s (like 255 85 16) is the threshold for a diff gear change.
Dale