The thing is that Hankook Dynapro is actually a Highway Terrain tyre and hence not recommended for off-roading. If you have to use your Thar only on highway and well paved roads then you can go for Hankok Dynapro HL RA25 tyre. It offers pretty good ride comfort and precise handling with great grip.
In case you want tyres suitable for off-roading then you can look at Yokohama Geolandar A/T-S. This tyre offer great wet and dry grip and has large lugs which ovver good traction over rough or muddy surfaces.