SeaHunt

I have stock P275/50 21in on my Lexus. I am looking for recommendation of the best all terrain tire. I want to add to level or raise the lft an 1-2 but the amount of work seems prohibitive and I think it voids my warranty. The goal for the car is some minor off roading for biking skiing, surfing and fishing. I am concerned with the clearance, The 7000 LB tow is fine for my boat. Lastly, I am adding "accessories" such as Thule racks for sports item (Bike, skis, etc.) and storage. If anyone has experience making their LX 570 more off roday ready, please offer any advice.

Thanks,
Scott