First, I totally agree with repaying the student loans ASAP. Even with the tax benefit to the interest, it's still a high effective interest rate. There's also some additional math to be done with student loans versus other loans: if you invest, and get sued (or otherwise liable for a large bill, e.g. medical), the assets you could have used to repay the student loan can be taken, but you're still stuck with the loan, even if you have a bankruptcy.
For the mortgage, I assume you aren't paying PMI. What's your marginal tax bracket? 4% is just slightly above where I'd start to say "pay it instead," but the effective rate is lower.
Car loan - as much as I don't like a $17k car loan, 1.7% isn't bad at all. I'd pay the minimum on this and invest otherwise, unless the loan requires much more expensive insurance than you'd get otherwise.
Your 401(k) is maxed; great. Do you contribute to an IRA of some sort? Before advanced repayment of the mortgage, I'd contribute to an IRA (probably Roth), if you're eligible. There's only so much tax-advantaged space, and each year, it's use it or lose it.