Easy answer. You go by weight on each tire
And compare that to the manufacturer tire inflation guide.
If your on stock tires, the door jamb sticker is first guide
But anything different, you follow the respective tire manufacturer Inflation tables.
You need to weigh the vehicle and get accurate axle weights, in normal loaded setup
Then divide front axle in half and rear axle weight in half to get respective tire loading
You could do an all four weighing, but axle weight is faster route
Then compare the weight the tire is supporting to the recommended inflation at that particular manufacturer data
For example
If a tire has a load rating of 4k at max psi
But your only in the 2k range, then of course your cold pressure will be less
And you can also chalk your tread about 1/3 of circumference then slowly roll fwd on smooth surface like concrete or similar
And then look at the contact patch the chalk left behind
Then adjust psi to give you an even across tread contact.
And unless your vehicle is 50. 50 front and back
Then each axle will have different psi
My f150 carries normal heavy up front compared to rear
Rears run 31 and fronts 36
To maximize tire wear and pavement contact
And LT tires will be harsher. Because of sidewall layout
And load actually on the tire