All physics aside, I can state from empirical evidence that my bikes with larger, heavier tires are slower than the ones with lighter tires. I have tracked my miles and average speeds on all of my bikes for many years and tens of thousands of miles. The bikes with heavier tires are simply slower. My average speed on my touring bike with 35 mm tires is 14.64 mph over 7,277 miles (most of that commuting). My two sport touring bikes, which have 25-28 mm tires, have average speeds of about 15.8 mph over 9,237 miles (mostly commuting). My road bike with the lightest tires (23-25 mm) had an average speed of 17.1 mph over 12,834 miles (all recreational rides and tours).

The bikes with larger tires also feel slower when riding them. They are slower to accelerate and harder to ride up hills. It is hilly where I ride most of the time. If I always rode on flat roads, the differences would not be as large, but heavier tires are still slower to accelerate if you ride in stop-and-go traffic like commuting.