The "LT Tires need more pressure" link is a good read, but it is one dimensional thinking to assume that load capacity is the only factor that vehicle manufacturers use in determining tire pressure. In fact, they take into account
- load capacity
- fuel economy
- sidewall heating (related to load capacity and fuel economy)
- contact patch uniformity across the tread
- handling characteristics
- hydroplaning resistance
- and other stuff I haven't mentioned.
As a first rule, you need adequate load capacity. However, just because a p-rated tire at 32 psi has 2500lbs of capacity doesn't mean you need that much out of an LT tire. You'll never get much more than half that load on a single 4runner tire.
Back in the 70's it used to be common for the door sticker to recommend 24 psi for a p-rated tire for a 4000 lb Cadillac or Olds sedan. The low pressure made the ride nice and smooth. Why the change over the years to the now common 32-35 psi for roughly the same weight vehicle? Fuel economy, pure and simple. Secondarily, handling. People expect tighter handling characteristics these days than they did for a 1970 Caddy.
Best is to look at the load chart for your tire. At a minimum put in enough air to handle any expected load with a 25% reserve. Then adjust air pressure above that to balance comfort, fuel economy, and handling. Do a chalk test to check contact patch, and keep an eye on your tires for uneven wear across the tread.