When I bought my 2006 SR5 4WD last year, it had the Kumho Road Venture APT (KL51) tires already on. The KL51 is a Highway All-Season tire, see Tirerack. Overall I am surprised with the Kumho’s, they are very good in dry, wet and snow (I live in Minneapolis). The biggest plus is they are the quietest tire I'm ever owned (car or SUV). The tires have at least 20,000 miles on them and they still look near new. If you are looking for a highway tire I highly recommend the KL51.
I prefer the look of a more aggressive All-Terrain tire (short list is Terra Grabbers or DynaPro ATm) but I cannot justify new tires to the “Boss” because the Kumho’s are too good.