I don't know if any ATV tires are street legal. It does not seem to be much of a concern. We drive on the rode all the time.
For pavement, the Original Big horn would be my first choice. The wear like IRON. One of the guys in my group put over 10,000 miles on a set and then gave them to another guy that drove them some more.
They ride good and work well in most all conditions. Yes, there are better tires for each individual needs but the Big Horn Original has been the "Go To" for most everyone I ride with.