I also have a daily driver with AT's but no offroading. Had BFG KO2 and now Falken Wildpeak AT3. The trick is to find an AT with lower ply rating like 6 ply. Like a C or SL load rating. You get the look of the AT but not as stiff and heavy. Both I had/have are in stock size 265/70/17.
I'm due...
Was your 2016 an SR5 Premium as well? In your signature it states that your 2021 is a Premium - meaning you have 3rd row seats. Did your 2016 have 3rd row seats?
I had similar lights on after removing my steering wheel and re-installing for a heated steering wheel mod. You may need to do a ZPC, zero point calibration. I did this and downhill assist calibration and it cleared the lights.
Yaw Rate and Acceleration Sensor Zero Point Calibration (for...