Hi
I've been told Michelin say to take the max load for the tyre, and divide it by the max pressure giving a weight per unit pressure, in my case 45.6kg/psi.
Knowing my actual travelling axle weights, for instance 12000lb on the rear axle, gives 60psi for the road, adding 5psi more for sustained highway use.
Offroad, half that, and for sand, a third, so 30psi dropping to 20.
Those figures tally with people I've met who have driven deserts in Morocco, Oman, Syria and Saudi as well as a round Africa couple.
Half pressure on my truck works well, but I would not go above 20mph, less at the lower pressure perhaps. It doesn't become a totally smooth ride or allow more speed IMHO, but its a lot better for my bones and the truck!
I always air up before returning to tarmac speed which is a real pain. Get the biggest compressor you can run, or one each side perhaps, so you can hook them up with a high engine idle and go sit in the shade?!
Happy travels