We have 235/65R17's on our Sienna. I compared one side by side with the tires I'm running on my 2004 awd, 235/75R15 and they were dead even. I've lifted my van a couple of inches, but even before the lift I was running those tires and they cleared. My front struts were cheap aftermarket and dead, allowing the front to sag and one tire would hit the fender during bumps or potholes. If I would have had the correct struts/springs in good shape, it wouldn't have been a problem.
My speedometer does read about 5mph slower than what I'm actually going.