A couple of years ago, I was in a similar situation with my Jeep Grand Cherokee. The stock tires were alright, but as they wore down, I found they weren't providing the comfort or grip I wanted.
After doing some research and talking to friends who had made tire changes, I decided to go with the Michelin Defender LTX M/S tires. Right from the get-go, I noticed a significant difference in ride quality. The Michelin Defender offered exceptional comfort, gliding over bumps and road imperfections much better than my previous tires.
In terms of grip, they performed admirably in both wet and dry conditions. During a heavy rainstorm, I felt confident behind the wheel, with no hydroplaning issues at all. Plus, the tread life has been impressive; I have over 30,000 miles on them now, and they still have plenty of tread left.
If comfort and solid grip are top priorities, I would highly recommend giving the Michelin Defender LTX a shot.