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.