If you're not running too wide a wheel, re-seating a tire is NOT tough at all, since the bead will naturally push out and seal fairly well against the rim, allowing you to easily air it up.
In my experience, it is also fairly difficult to de-bead a tire if your wheels are not too wide. I've done plenty of offroading at very low pressures on all sorts of tire sizes. I have yet to knock a tire off the bead. In fact, the only tires i've seen come off the bead were 16.5's
The whole fear of un-seating beads came about mostly because of the old 16.5" rim size, which had no such safety bead, and had a tapered beat seat area that required almost no force to dislodge if the air was let out of the tire. (You can easily knock a deflated 16.5 off the seat with your foot...) With 16.5's, even mild side loading could un-seat the bead at low pressures. That design has long ago become a thing of the past.
Tire pressure is best determined by experience, not by armchair warriors trying to make absolute limits like "never run less than 45psi in a LR E tire". Honestly, I know it's well intentioned, but poor advice at best, since the LR E ties on my TJ NEVER have more than 30 psi in them, and I have no fear of them blowing out. Tire pressure needed depends on how much weight the tire has on it, how fast you're going to go, and how far you're going to go fast. Perhaps what he meant to suggest was that you can't do 80mph for hours on a tire loaded to capacity but inflated to only 45psi... That would be good advice.
My rule of thumb is that I air down enough to get some sidewall flex offroad. How much flex depends on what I'm doing. On washboard or sand, you can go pretty low, and the lower you go, the better the ride and flotation. 20mph is not fast for low pressure unless you're cramming in a bunch of steering, or bashing into hard ruts with the side of the tire. On hard pack, I keep the pressure a bit higher so I can go faster without worry of wobbly handling. In big rocks, I run a bit more than for soft surfaces so I won't pinch a bead as easily.
On-road, the farther and faster you want to go, the less sidewall flex the tire will tolerate. I have no problem going a few miles down a paved road at really low pressure, but I'll keep the speed down.
Get out there and do some experimenting. You'll probably find that for an empty truck on 35's or 37's, you can easily drop to near 10 psi in the sand without worry. I find that the rear tires can usually go a bit lower than the fronts, since there's less weight on the tires.