Look at Yokohama Parada Spec-X 420 treadwear rating are 194 each set of 4 with tax in Texas is $915 installed at Discount Tire, Good year has a cheaper tire ar $125 each but it has lower tread rating and a more aggresive tread that will lead to more road noise. The good years can be had for under $600 installed but they would be inferior to the Yokohamas .
Remember this car is a more comfortable alternative to a SUV their tires will usually cost almost as much and in some cases more.
Could do to raise the ride height just a hair not much would not want it to be as high as a highlander but about 1/2 to 1 inch higher would not hurt.
I went to my local toyota retailer and test drove a toyota venza v6 model and was dissappointed becuase ride quality of the vehicle was to firm for my taste as well as way to much tire noise and wind noise. It was like the build quality was questionable and it would have developed problems down the road. The sales person said it was the type of road we were on so i made him do a more extensive road test and it was the same issues. There was no bs with me