I have a set of the nitto trail grapplers M/T. I love the look and my 2wd truck sees its fair share of time off road. The draw back to them on highway is slight loss in power, road noise and roughly 2 mpg loss. For your situation I would go with the terra grapplers. You will get a nice look and "not too bad" of a road tire.
2010 Ford F-150 - Method NV - 35x12.5x17 Falken Wild peak AT - SVC Baja Bumper - Olympus Off Road 30" radius bar & 4 5w HD Pods - Alt Offroad Hood Mounts - TonnoPro folding cover - Baja Kits 4" Spindle lift - Raptor Blocks