It really is vehicle dependent. My 2500 pickup, the OEM recommended is 60 front 70 rear on the door jam, but it also states that is at max gross on the axles. When empty, there is no way I am running those pressures. I typically run 55 psi all the way around for empty or light loaded stuff. Those are E rated tires. Running the lower pressures when empty, the traction and handling is far better, tread wear better and more even, less wheel skip on bumps, and a slight up tick on mpg because the anti slip electronics are not having to micro manage all those bump events. And ride is significantly improved.
My commercial trucks, the tire OEM's are nice enough to provide load range charts to show proper inflation for the tires. Even at my max gross on my semi truck, the recommended pressures are considerably lower than the max rating on the sidewall. I typically average around 225,000 miles on steer tires and over 400,000 on drive tires. So the tire folks much know what they are talking about. But they will not provide that same information to auto/pickup owners. They always punt to the OEM, which is stupid, as the auto/pickup OEM does not design and make tires.
The TPMS has a cow over my running the lower tire pressures on the 2500 tires. I just dismiss it in the DIC and ignore the light.