beijingjj, when I had a Hilux, I spent a lot of time offroad. The tyre that seemed to get the best following was the Yokohama Geolandar. I've got the H/T's on my RAV, and they're an absolute dream onroad, with an aggressive enough tread to handle most non-extreme surfaces. They'll be brilliant for soft sand, but don't have enough 'claw' for rock and mud will clog them very quickly.
So, my recommendation is one of the Geolandar variants, chosen to what terrain you might be expecting. I had Firestones (cannot remember which, except 265/15's) on the Hilux, and I was not impressed by any of their offroad abilities. If you expect to remain onroad, then obviously none of these is a factor.
Edit: Firestone Wilderness R4S 245/75/15