The cold air pressure recommendation by tire manufacturers take into consideration that the temperature will cause a rise in pressure as the tires are driven on. This is why you should only check the pressure when the tires are cold. I think if your friend has calculated that 95psi is correct, then that's what's important. It's not unusual for a tire to heat up and cause an increase in pressure because that has been estimated by the tire manufacturer. Tires can heat up from friction, convection from the brakes and bearings and the temperature of the road and ambient temperature.
If you do this when they are warm the pressure will read higher and if you remove the pressure at that time to match the cold pressure requirement, this means you will have less air pressure as you are driving and when the tires naturally warm up. Running too low especially means your tires cannot support the load rating you expect, you will be riding more on the sidewall and may experience a blowout.
Use the cold pressure recommendation for your load. Many tires have a psi table depending on the load. I believe the G614 RST is one of those tires with a table. Use the recommended pressure then adjust it if you see abnormal wear. I have Goodyear Marathon (aka Chinese-made bombs) and run them at 80psi (rated for 3420 lbs) even though the weight actually carried on each tire is about 2,400 to 2,700 lbs. I don't travel long distances (longest trip ever was 1,100 miles round trip) or very often (about every 2 to 4 months) and now that the tires are starting to show extra wear in the center tread I will lower the psi to about 75 psi - hopefully I can find a load table to confirm this.
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