The best way to find the proper pressure for your vehicle is to do the chalk test.

Slightly overinflate your tires (ie low-mid 30's psi). Go to an open parking lot. Draw a chalk line across each tread, from inside to outside. Drive straight a hundred feet and see how the chalk wore.

If primarily in the center, they're overinflated. On the edges? Underinflated. You want the chalk lines to wear evenly across the tread. Adjust as necessary in small increments to get even wear.

Toyota recommends a higher psi in the rear than the front, which is very counter-intuitive - unless you're carrying a load. I've always run slightly lower (2-4 psi) in the rear than the front.

I ran something like 30/f and 28/r when I had the OEM BFG's because I wanted good gas mileage, but it does provide a slightly harsher ride. I run 28/f and 26/r on the Yokohama AT's Load Range D tires I have now, which is a nice compromise of wear, mileage, and ride.