Tire pressure is usually checked on cold tires, mfg recommendantions already factor in the heat build-up difference....However the best indicator is tire wear, middle wear indicates over-inflation, wear on the edges indicates the opposite....Here's a good idea, Costco had introduced Nitrogen mixed air for the tires they sell. The gas helps stabilize the temp inside the tire and aid in a more consistent wear and air pressure, for me it was great news since here in the tropics we have pavement at around 100+ degrees almost all year round....
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