I had 215/60/15 tires on my Vibe earlier this year. There was no rubbing and the speedo was dead on. There were no drivability problem what-so-ever. My speedo was off by 2-3mph with my stock 205/55/16 tires. The 3% rule is a general guideline, not set in stone, and is not the same for every car, wheel or tire. You will be fine with 215/60/16 tires.
My Fleet:
'15 Ford Fusion AWD Titanium 2.0 Tutbo
'14 Lincoln MXZ AWD 2.0 Turbo
'14 Nissan Pathfinder AWD SL
'05 Pontiac Vibe AWD