Goodyear Wrangler RT/S Tyre would be a good tyre to begin with for your Xylo. And if in case you want something better then go for Yokohama Geolandar A/T-S. It performs really well over rough terrains.
If you use your vehicle strictly over highways/ paved roads then you can go for Falken Wildpeak H/T01 or Bridgestone Dueler.
If you majorly drive your Duster on highways or on city roads then go for Bridgestone Dueler D684 or Falken Wildpeak H/T01. They both are quite good and offer a quiet and comfortable ride. In case you have a budget constraint then you can use MRF Wanderer.
However, if you take your vehicle for off-roading or use it on rough terrains/roads then Yokohama Geolandar A/T-S would be a pretty good tyre.