I think the less rigid sidewalls and all season rubber compound are why the XPS tires feel soft.
I plan on looking at the Michelin Agilis CrossClimates, when the time comes.
I had the AT2 models on my Roadtrek and they were great in sand/snow/mud and ran perfectly to their warranted mileage, before they failed. Tread separation, but there was enough tread depth left to prorate 50% off a new set of LTX MS2s. Not as rugged as the AT2s but they didn't have the preferred tires in my size, and we were on vacation. I would put AT2s on the Navion, but they don't make them in LT215/85.