According to Toyota's web site a 2010 Tundra has a payload of 1620. That 800# less than the 2400# you've told us about - and we don't even know what YOUR Tundra's payload is! It might be less.
There is good news in this: According to Tire Guides, the tire placard on your vehicle ought to say to use 26 psi front and 29 psi rear. That means that if you were to use 35 psi, you could gain ~150# load carrying capacity per tire.
BTW, the maximum load written on the sidewall of the tires is based on the tire's use as a passenger car and since this is a pickup, the tire's capacity has to be reduced by 10%. Plus, the maximum load carrying capacity is based on some fairly ideal situations, so it's actual load capability would be less for less than ideal situations.
Nevertheless, whatever damage has been done has been done - and the tire will not forget this.
So why not find out what your truck's payload capacity is, use 35 (or more) psi, and limit your loads to something more reasonable.
Then which your tires very carefully. Any signs of bulges, or a gradually increasing vibration, would be a sign for immediate replacement.