The truckes are geared to run this way. You can run your Tracker all day at 4,000 rpm and won't hurt it as long as you keep the oil changed.
When I bought mine it had 130,000 miles on it and it was only a couple years old. It was all highway miles.
Now it has 155,000 and those last 25,000 are really hard miles. It's not a daily driver and only sees the road on nice sunney days. The rest is pushing it hard off roading.
If your looking for bigger tires to lower your RPM's, I wouldn't. If you want to for off roading, now that's another story.
I ran 235/75R15 (about 28.5" measured with a tape) and I still kept up ok on the highway. Now I have 32's with 5:83 R&P and can hold 70-75 (4000-4300) all day long on the flats.