Many owners have done fine on street tires. No problem! I was on 255/50-18 street tires the first time. There's always a group that want to go on the easier trails that are doable by all. The harder trails (with names such as Steel Bender, Metal Masher..LOL) are usually only done by the gang that's lifted and has larger tires.
Some decent A/T hybrid kind of tires - Yokohoma Geolander AT/S, General Grabber AT2. And I'd even add the Nitto Terra Grappler as a great A/T yet great on road tire. I've had them for 10,000+ miles and they're very nice on road/highway. Most of these tires are near the $200/tire price.
I think you're price point may be a little hard to hit, but I'm sure others will chime in with some suggestions.