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Odometer reading is less. Changing tire diameter has the same effect as changing the rear gear ratio, only it typically isn't as big of change as swapping a 3:73 for a 4:10. More like swapping a 3:73 for a 3:78. As for speed vs odometer, think of it these terms: you travel for one hour at a constant speed. The GPS says you traveled at a constant 57 miles per hour for one hour, so you covered 57 miles. Meanwhile, the speedometer has read a constant 55 miles per hour and the odometer would thus read 55 more miles than what you started out with. So while the truck has traveled 57 miles, the odometer is only going to show 55, thus it would be off by 2 miles.
Does that help?
As for adjustments, many tuners can adjust for tire size and recalibrate the odometer/speedometer for you. Some brands of trucks can also have this done by the dealer. Here's the disclaimer though: adding a tuner, even if you're just doing it to recalibrate your tire size can result in your truck manufacturer voiding your power train warranty.
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