IMO. Running low tyre pressures too long on black top will create heat and subsequently possible excess tyre wear or even damage. Your handling will suffer too, especially if your tyres are higher profile than the OEM tyres.
If you want to test pressures, try the 4psi rule. I.E Check your tyre's pressures when cold, go for a long run (at least 50k) and check them again . The pressure will increase but should not be more than 4psi higher. If higher than 4psi, then they are too low. Off road it's a different story of course
In my JK I run km2 at 36-38 with no ill effects or discomfort as pressures reach 40-41 when hot. I've never rotated my tyres and I get an even wear all round, even after nearly 20000k on the km2's.
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