Sprocket size is totally dependent on your gear ratio not ground clearance. You dont choose what diameter. You live with the ratio you need.
Yes lowering the ratio increases top speed but you loose the low end torque needed to get you moving.
Ever ride a 10speed bike?
Same concept. In low gear or high ratio you pedal like crazy but dont go very fast. You can even do easy wheelies, because you have the torque.
Now switch to high gear or a low ratio and you can't even get started, its hard to pedal, but once you get going, you can go really fast.
You technically could gear to go 100mph, but you would never be able to take off. You would have to be pushed to a point where the engine can work that ratio.
On the other side you could gear where you only go 10mph, but you would have the torque to climb a mountain.
With karts we try to stick to around 6:1 gear ratio. Its not exact but its works for many.
If you need ground clearance and using a smaller axle sprocket than you will need to use a larger drive sprocket to bring your ratio back to a usable range.
A taller tire will give you ground clearance but it will also change the overall ratio and sprocket change is how you correct it.