Don't Worry
I spent 10 years as a trail guide for the Easter Jeep Safari in Moab. I ran the '97 Cherokee I used to own (I almost started to cry when I realized how different Easter will be this year). I was nervous at first, and started my tires at 18 psi, then the next year at 15 psi, and so on. I found that I could run my 33x10.5 BFGs on AR 767 steel wheels at 8 psi. Comments were made regularly about my ability to climb obstacles. I would let them know what pressure I was running and that is why. A stiff tire can't grip, and will puncture more easily than a flatter tire. Also, on one run of Gold Bar Rim, I was running as a trail gunner, by myself (Rick Pewe of Petersen's 4Wheel and off road had just gotten out) the stereo was on, the window up, and I was just enjoying my day. I tried a direct line up an obstacle and did not make it, I backed up slightly and readjusted and came right up. Several folks came to see what I had broken, because there had been a loud sound when I first tried the climb. I hadn't heard it because I was in my climate controlled environment. They realized that I had put enough pressure on my front tire to let air out around the bead. I only lost a few pounds, and the tire stayed firmly on the rim. For best results 8 to 10 psi, but if you don't have access to air, 15 psi and you can still drive to air. I hope this was not to long, and that it helps.