LTs are tougher
I was driving my Jeep Liberty on gravel roads, and driving faster than most (27 years in the Forest Service). I had a flat every two weeks. After I upgraded to LT (Light Truck) tires, I haven't had a flat in 8 years. If you're not overloaded, your P (for Passenger Car) rated tires will probably do fine. They are lighter, so you'll get better mileage and they'll last longer.
The tires you probably want to upgrade are your trailer tires. Mine were C rated, and 7 years old when I bought my ROO. I had 2 blowouts in 4 trips. I upgraded to Load Range D, and Speed Rating M (81 mph). I believe I have solved that problem. Most trailer tires are rated for 65 mph. But if it is hot, and they are near max load, you can't drive that speed without blowouts.
My load Range D tires are rated at about 1930 lbs. with dual axle. Your rig weighs around 7000 lbs. empty, and up to 10,000 loaded. I'm guessing when you load water, propane, and gear, you're over the rating for a Load Range D tire. A blowout on a traier, can cause a lot of damage. That's why everyone recommends a Tire Pressure Sensor system. It is on my list. Look for ST tires that are speed rated M.
2009 Roo 21ss + 2007 Superduty 6.0