Michelin Cross Terrain SUV
 

I just recently put a set of these on my '05 SR5 and love them. Yes they are a lil on the pricey side, but they are heads and tails better than the Bridgestones that came on my runner.
I do mostly around town driving, with some very light to light offroad use and I take it on the highway a few times a year and this tire has done all that I've asked and more. These will be standard equipment on any future "onroad" SUV I own.