Absolutely, a cam change would most likely be the best bang for the buck as well as a good 2 into 1 pipe and a 6 speed.
If you setup your motor to 10.0 to 1 compression not higher than this, I would go with the S&S 570 cam. Do some research on the 95" Hippo build it was a very good and common build with the 95" motors.
Gear change, 570 cam, 10 to 1 compression, 2 into 1 pipe, 6 speed and gearing change would be for most an ideal rig for fun and touring. 6 speed gives you the highway cruising without the pushing of the rpm's that you state you enjoy. the gearing will help give you the snap and the 2 into 1 will give you the lower end grunt with the back pressure vs. a true dual. Cam should kick in well around 2500 to 2600 with the gear change and run your spectrum of rpm.
Obviously if you change the cam and put the correct head gasket in there you might consider new lifters as well as having the heads looked at while you are in there.
valve seals, guides checked, fitment and possibly even a little clean up if needed.
There are other cams, but this is one of those tried and true combinations that has been proven and is well documented.