The easiest thing to do would be to set your STB to 16:9 output which will fill the screen but look squashed on a 4:3 CRT. On a Widescreen TV it will look correct. TiVo menus will look a little flattened though.
Default input/output resolution on the TiVo is 576x625, but can be set to 720x625 using palmod_config via telnet. Setting to 720 causes a flicker at the bottom of the screen on some TiVos, and can overstress the MPEG decoder chip and cause it to fail. You can add a heatsink to it though.
There is some facility on the TiVo to accept (from the STB) and to send to the TV the 'widescreen' flag/code so that theoretically they will automatically switch between 4:3/16:9. It should therefore avoid 'sidebars within letterboxing' which you sometimes see with 4:3 content. I haven't played with this myself though.
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