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My max sidewall is 51psi and I keep mine at 60psi. Yes, the ride was a little rougher at first, but I quickly got used to it and don't really notice it anymore. I do notice the decrease in rolling resistance though. And you should always fill cold, at times when I fill hot, I'll just add 3-4 more psi than I normally would.
When I leave in the morning with the car cold, my TPMS will read 59-61psi for each tire and will slowly increase to 61-64 as the tires warm up.
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