Are they in a 4 cyl or V6 diff? That will most likley make the most differance. But if they are already installed, leave them and see what happens. I think for street use with biger tires you will have the advantage, because you will gain some rpm at hwy speeds.
I run 38's with 5.29's and a 65 hp engine. I can go faster in 3rd gear than in 4th gear. For me the 5.71's may be a better choice. We will soon see.