Just letting the community know about my experience and recommendation in case anyone needs tires and doesn't want to spend too much. As a cheap and lazy bastard I've been riding Goodyear Integrity's as they came on my RX when I got it in 2001 and either I wanted to match the spare, or only needed three tires etc when I got replacements. Got sick of the poor handling especially when the tires got to 5/32 at 30,000 miles each time and took a shot with Kumho Solus KH16. Got 'em through Tire Rack at $90 each (Integrity's were $103) and got 'em installed through a Tire Rack installer for $66 complete mount/balance/new stems/disposal and $75 for a 4 wheel alignment with a Tire Rack discount. Total cost $501 and while everyone loves their new tires compared to their shot tires, I know what new Integrity's felt like and these Kumhos are a way better ride; been riding them about 2,500 miles so far. Ticks me off how I drove on those crappy tires for twelve years but better late than never. Time will tell how the Kumhos will wear.
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I'm running General Grabber HTS tires. Only cost me $400 installed once I sold the old tires for $80 on craigslist. Have about 11k on them now, tread depth still looks like new. Rides great, excellent steering response. I believe these tires won #1 in class a few years back.
You should get 40-45k on both the KR-21 and KH-16 tires. They'll be bald by then. Make sure you rotate and balance them though. The mileage warranty on these is around 60k to 65k, if I recall, so don't expect that. Kumho won't honor the warranty anyway. I've had 2 sets of KR21 and one set of KH-16's on my RX. They wear evenly and handle good and for the price. They are a good 40k tire, so don't be too disappointed if they're looking worn at 35k. You buy two sets of Kumhoes for the price of one set of Michelins for 80k miles.
I had a set of Michelin's Cross Terrains get to the wear bars in 32k and they prorated me another set. Granted they held my feet to the fire for documentation and spoke to my dealer on the phone but they honored it.