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Find the "Load & Inflation Tables" for your particular brand, model, rating, and size of tire.
It will tell you exactly how many PSI that you need for the amount of weight supported by each tire. I keep a copy of mine in the truck.
Where I live, you can use the states roadside commercial truck scales to weigh your rig for free when they are closed, and at least a couple times a year I will weigh the truck and 5er when fully loaded. Then, whenever we go on a trip, I already know the weights and I can adjust the tire pressures to what they need to be.
For the truck, I adjust the PSI to whichever tire (left or right) has the heaviest load to the same pressure in both tires for that axle. The front and rear axles will have different pressures, but tires on the same axle should be set to the same PSI.
On the 5er, I weigh each tire on its own, find the correct PSI, and then set all four tires at the same pressure to that of the heaviest individual tire load.
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