With 245/75/16's, I spin 2100 rpms according to the tach at a true 70(according to gps). There is about a 2 mph discrepancy between my factory odometer and the gps with the gps reading lower. I noticed on my old truck that as the tread wore down and the tire had less circumference so the speedo became more optimistic that the discrepancy between the speedometer and gps increased.
You can actually do the math based on gear ratios and tire size to get the theoretical rpms that you should be spinning. You can do a google search and come up with all sorts of online gear ratio calculators.