I had AT3s and was pleased with the results. Likewise for Toyo, BFG and Michelin.
I rotate tires at every oil change, 5000 miles. I have a 4 wheel alignment done every 2 years, unless I bang a wheel too hard. Also, inflating/maintaining/monitoring tire psi to your axle loading. Use the Toyo chart. Only tire manufacturer I know of still publishing this data.
Over the past 3 decades, I believe 5000 mile tire rotations, every other year alignments and hawking tire psi have contributed to 50,000+ miles on sets of BFGs, Cooper and Michelin tires on F-150, F-250 and F-350 trucks.
Tires are a compromise amongst mutually exclusive variables IMO. You have to decide the variables important to you and select accordingly. Important to me are reduced highway noise and good sand traction. I'm happy when I get 35,000 miles on a set, that is what I call my break-even (happy with longevity) point.