The Michelin Defender LTX M/S or Yokohama Geolandar G015 should be a good fit for those needs.
Another vote for the Geolandar G015. I have a set on my LR3. Mileage is actually better than the EPA estimates for my vehicle—EPA is 17 highway, and I get 20 mpg. They are labeled an AT, but are relatively mild for an AT in terms of tread design and one of the lightest AT category tires. They are great in rain and are 3PMSF rated.
We do 90% highway travel and then short bursts of forest roads for camping. They are perfect for this use and there is very minimal road noise at 70mph. I also find that they don’t trap a lot of gravel in the tread, which I like because then I’m not ejecting rocks on the highway.
I’ve used them for more serious off roading (no rock crawling) in an ORV park and they did really well. I didn’t struggle with traction while wading, in muddy gravel, or climbing over moderate tree roots.