The method I learned was simple. It sure sounds reasonable anyway.

Find a relatively level and flat surface, a large one. Start with over-inflated tires that are cold. (having a portable pump and accurate gauge is handy as well) Scribe a chalk mark across the tread of each tire. Drive a short distance without turning and without hard braking and check the chalk marks.

Chalk worn off the center of the tread indicates over-inflation. Off the edges, under-inflation. Patiently add or remove air and rescribe the chalk marks until you get even wear of the marks across the entire tread of each tire.

This should result in a tire pressure that maximizes the contact patch for each tire. Don't forget to write down the optimal pressure settings.

Oh yeah, this is my first post, so a
Hello World is in order.
I've done enough lurking, so here I am.