It depends on the weight of your truck. Ideally you want to get the tread across the tire in contact with the road evenly.
I run 30 in my XJ on the street and 18 off road...but those are 300 x 12.5 on 15" rim.
Observe the contact pattern on the pavement. You can use a chalk line drawn across the tread, or some other means. If you don't have full contact, let air out of the tire, if you still don't, rinse and repeat.
On something as light as a trooper, I would agree, probably somewhere between 35 and 40
The chalk line is a good way of finding your contact pattern. If they are over inflated the chalk will wear off in the center of the tread, if they are under the chalk will where off on the outside. Also you need to find a happy medium between fuel mileage and ride. I have 31" Pro Comp Extreme MTs on my XJ. If I am running around in town in Red Deer Alberta, I have them at 28 psi, the ride is smoother. If I am going to Calgary or Edmonton I bring them up to 30 psi the ride is harder but I have a noticeable fuel mileage difference. and when I am wheeling it 12 to 15 psi and in snow 10psi.
It is a lot of trial and error.
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