You'll get a variety of opinions.
From what I understand, very rarely if ever are clearances less than the listed amount; generally the actual clearance is slightly (or sometimes not so slightly) more so as to account for the possibilities of repaving, frost heaves, settling of the foundations of whatever is overhead, vehicles bouncing as they travel, etc. That said, it is not a bad idea to be cautious about these things. At the very least do measure your actual clearance requirements for yourself, and maybe consider putting it on a card or sticker on the dashboard for reference. (It can be useful to have your actual overall length and width ready at hand, too; if you have rear view mirrors that can be folded in, the width both with them folded and with them deployed is occasionally handy to know.)