I have Hankooks on my '98 Nissan Frontier and am very happy with them. Smooth, quiet, good wet & dry traction, and the ride is good. FWIW I had a set of Coopers on there before and was never happy with them. The difference in ride between the 2 brands was remarkable. I went "up" one profile (from 65 series to 70 series) and I'm sure that made a difference in ride quality as well. The Coopers were quite old (circa 2006) although they were new when I bought the truck in '06. They didn't ride any better when new!
Also have Hankooks on my Daughter's Yaris and they're great. They were a huge improvement over the older Falken radials, even though we dropped one profile (the Falcons were taller than factory specs) to a 60-series tire. The ride wasn't drastically affected by that change. She drives the wheels off that little Yaris in all kinds of weather, never a problem with traction except of course it ain't going anywhere when it snows. I have a Trooper for that!

Xclnt tread life on these as well.
Keep in mind that if you go to a taller (or shorter, for that matter) tire that is a different diameter from stock size, it'll affect your speedo reading. A taller sidewall is gonna ride smoother. The 31's on my Trooper have a really good ride, they soak up a lot of bumps and road roughness.
To maintain the same diameter tire when used with a 16" wheel, for example, you'd drop one profile size. But that's not likely to improve the ride quality. Conversely if you were to go to a 14" wheel (if that size would fit over your brakes), you could go up one profile size and retain close to the same diameter as your current tires, and it would ride better.
There are plenty of 6-lug 14" wheels out there that probably would work, but you'd have to test fit to make sure they clear everything. So that's something to consider.
A change in tire diameter also affects your gear ratio, although I'd imagine you have a V6 and you probably wouldn't notice a "taller" gear that much. I did notice it a bit on my Frontier, but it's still ok to drive. The speedo was a bit fast, so the taller tire actually corrected the speedo reading.
On newer vehicles it's also possible to recalibrate the speedo with a OBD-II tuner. I'll defer to the late-model ZuZu experts on that.
Hope that helps, you might also check out reviews at Tire Rack and other online tire sites to see what tires are the quietest and best-riding.
HTH.........ed