I work as a tire technician and have for the past six years while working towards my degree. From my experience its recommended you just follow what is on the door placard as well as the pressures. If you're more worried about rolling resistance you can just bump up the pressures on the tires a couple of pounds, excessive increase in pressure causes the tires to wear faster making them go bald down the center, and though mostly shrugged off by most does effect the handling of your vehicle.
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