Hankook Optimo ME02 K424 would be a good tyre to begin with. It offers good ride quality and grip levels. A better tyre option would be Falken Azenis PT722. It offers a very comfortable ride quality with superior traction.
Falken Azenis PT722 would be a good tyre to begin with for your Innova. It offers good traction and a comfortable ride quality. In case you want something better you can choose out of Yokohama C- Drive or Bridgestone Turanza AR20.
Turanza offers longer tyre life as compared to Yokohama C Drive.
They both are pretty good tyres, you can't go wrong with either one of them.
Yokohama Geolandar A/T-S would be recommended for unpaved ,rough and muddy roads.