You could try putting the 17" from the Toyota minivan on the ID.4 to see if it will clear the caliper.
To be clear, I don't mean actually mounting it on the car, since it won't line up with the 5x114mm bolt pattern, and the center bore is 60mm vs 57mm, but if you can get a jack stand under each one and just check it for fitment, it would give us a definite answer. I actually may try that myself since I have some 5x100 17 in. VW wheels from an old TDI Golf (Ariettas, if anyone wants them!)
There are lots of good XL tire choices with "Eco Focus" (sort of a proxy for LRR, but not quite) at tire rack in 235/65R17 like the excellent
Continental CrossContact LX25, so you could run a 235 square setup with those (they don't come in 255/60R17). There are only a handful of choices at 255/60R17, but the
YOKOHAMA GEOLANDAR CV G058 is available in both 235/65R17 and 255/60R17, and is also a really good tire.
I still expect the 17 in. not to fit, unless of course you want to downsize your front rotors and calipers. Probably not a good idea
I'm really happy with the comfort of my 18 in. setup, though, and I run the pressures around 37 - 39 PSI or so.