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Put your truck on a scale and get the axle weights. Divide the axle weight by the load rating of the pair of tires on that axle, and call that percentage of the max sidewall pressure your minimum. Adjust upwards until you're happy, because sometimes you get a soft feel from either the sidewalls moving or tread being long. Lower rides better to a point where you put too much weight on for the pressure seeting, higher wears better to the point where you start deforming the tread block from lack of weight.
(Pressure / Max Pressure) = (Load / Max Load) Solve for Pressure to find your minimum for what your truck weighs, you'll know the other three variables from the tire sidewall and your weight receipt.