I just bought a Camry 2004 and considering to change the tyres. Initially wanted to get the PS3/PS4 but realise there is no size for this. Any other recommendation? I would prioritise grip over anything

Cant think of any choices that can fit you demand at ori size 205/65R15. Reason is simple; at 65 series profile, it is meant to use comfort, eco, touring tyres. Maybe try

1. Michelin XM2+
2. Hankook K435 ECO2
3. Pirelli Cinturato P6

If got abit budget to upsize the rims to 17in, try search around those big tyre shops for used Estima ACR50 or Alphard/Vellfire 17in original Toyota rims. With these rims, you can choose to fit 215/50R17 that is the perfect upsize while maintaining overall diameter (OD) of original 15in wheeks. Only then you have your fancy of choosing tyres of higher performance like

1. Michelin PS4
2. Goodyear Eagle F1 Sports
3. Continental MC6

That was what I was thinking as well. Are aftermarket rims usually lighter than 17inch toyota rims or just about the same?

same as old innova saiz. last time i use continental cpc?? forget.
and bridgestone turanza gr. this two good grips