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Draw a line across the tread of your tires, drive a while, and see if the chalk is wearing off evenly. It's usually helpful to draw multiple lines at different positions so when you stop, at least one will be readily visible.
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I just drive on a dusty dirt road long enough to coat the tires with dust, then hit the pavement. Tells me how much crown I've made on the tread due to overinflation, then I adjust accordingly. My fwd cars are all nose heavy so they get a few psi more in the front than the rear.