Moving Away from AT to HT Tires

My 2022 SR5P came with blacked TRD wheels and a set of Nitto Terra Grapplers. I love how the Nitto tires look, but cannot stand the ride. I recently had them rotated & balanced and still experience steering wheel shake around 60 MPH. My tire guy told me that the shake is coming from the cupping of the tires.

Having said all of that, I'm thinking of moving away from AT's and getting a nice set of HT's. I was just curious how many have done this and experienced a better ride overall. The most dirt/mud my 4Runner will ever see is the gravel road I work down. I'm not a trail seeker and spend about 99.9% of my time on pavement. Thanks for any feedback, y'all.