With 6/32" of the other three, it is a close call - even for the AWD model - as to whether you need to replace all tires, since you will not be that far off really in rolling diameter with a new tire.
However, if you have 41k miles on these tires (that is pretty darn good - was not clear to me whether you meant the car or these sets of tires had the 41k miles), then they should be replaced regardless.
Also, check the DOT manufacturing date on the tires. If more than 4 to 5 years old, then replace all four tires regardless. The rubber would have vulcanized quite a bit by now.
And, yes, definitely do not get the RSA tire as a replacement - even good Michelin touring tires will be good compared to those (although I would get better tires anyway)!
Currently, I am using the Michelin Super Sport in a 245/45-18 size and am
very happy with them. Relatively low noise (given that that they are not touring tires), excellent handling and braking in wet and dry, good wear so far (after 10k miles, they are down about 3/32" or so). Only issue is that they are not inexpensive.
Z