Don't "worry", just look at the situation and figure out if it's a problem or not.
Reach behind each tire and feel how much space is behind it. If there's at least a 1/4" between the tire and the strut or shock, you're fine there. If you want to take it a step further, turn the front wheels all the way in each direction and check for clearance at the back edge of the tire. It could contact the rear edge of the wheel well. Probably not likely because your car is at stock ride height.
To check the outside, just look at it. Does the tire extend past the edge of the fender? Maybe have a friend open a door, stand on the sill and bounce the car solidly. Does it look like the tire COULD contact the fender?
If contact is possible, you just need to be aware of it. It can come into play when you take speed bumps or steep driveways or any kind of big bump, especially if there's extra weight in the car.
Being at stock ride height, you can get away with a little more than a lowered car. But, you're also on stock suspension, which is very soft. A good bump, or hanging a corner hard will blast right through the available 5" of suspension travel and easily put a tire into a fender. Yes, it can damage your fenders. Yes, it can damage your tires.
Don't be afraid of it, just educate yourself. If it's an issue, figure out how to fix it!