Years back we experimented with some 4" pneumatic wheels we found on McMaster that had to make custom hubs for (since there wasn’t really a COTS solution for driving them).
That said, as others have pointed out, typically ground-clearance is your friend when it comes to outdoor robots. Our current Outreach Bot / T-Shirt cannon is built off of a KOP chassis (probably an AM14U2) that we modified to use AndyMarks 8" Pneumatic wheels.
Because the robot has a relatively low CG, the 8in wheels work great for a variety of terrain. We’ve taken it everywhere from school assemblies, homecoming parades (including pavement/gravel/grass), an OHL hockey arena (on the ice), and more. After a few years of wear, the only real complaints we have is the wear on the plastic parts of the kit, namely the gearboxes and the wheel hubs (though I did just discover AM’s Aluminum HD Pneumatic wheel hubs, so we may have to try those soon).
Personally, I would avoid most of the non-pneumatic wheels sold for FRC applications if you’re going to be using it on any kind of pavement. FRC wheels are designed for carpet and tend to wear down quickly on other surfaces (especially pavement).