The ideal pressure is the one that gives equal contact across the surface of the tire. That is also lower than most people think when putting on different size tires.
Here’s the old school method I learned when I was involved with vintage car racing:
You’ll need a pressure gauge, some flour and a stiff bristle brush.
1) Locate a level, smooth concrete (preferred) or paved empty parking lot.
2) Start with a higher pressure than you think you’ll need, Then drive around for awhile to warm up the tires and air inside. Then head to the parking lot.
3) Stop in an open level spot, dust the leading edge of all 4 tires with the flour.
4) Pull forward just one rotation of the tires and check how much flour is left on the outer surface of the tires, not down in the treads. You should see more on the outer edges and less in the middle. If not the pressure is too low already.
5) Use the brush to clean off the flour, reduce the pressure a couple of pounds on each tire.
6) Repeat steps 3..5 until the flour left on the tires looks even and make a note of the pressure. Note that the pressure for the front and rear may be different (usually is).
7) Repeat steps 3..5 until you just start to notice there being more flour on the center of the tire and less on the outer edges. Make a note of this pressure.
The final pressure is the mid point between the first point where the flour looks even and where the center starts picking up more flour when the tire is cool. So find the difference between the two pressure points and check the tire pressure again when cool and add the ½ the difference between the two noted pressures to the cool pressure and that is your cool tire pressure.
The newer way is to use an infrared thermometer and check the temperature across the tires after driving around on nice twisty roads to get them good and warm or even hot. The actual temperature doesn’t matter. What you are looking for is even temperature across the tire (the temp will be a little lower right at the outer edges, so check about 1” or so in from the edge). Higher temperature in the middle and the pressure is too high, Higher temperature to the outside and the pressure is too low.
I like to add 1 lb to the final numbers so they will be closer to ideal when cool others I learned this from don't. As the saying goes, "You call the tune, you pay the piper" or "Your Mileage May Very."
Hope this helps and wasn't too confusing.