The ideal road pressure is the one that keeps the tires tread contact pressure equal across the surface of the tire. Remember that the fronts and rears normally need different pressures. Also, in many cases the rears for trucks and SUVs would be given a higher pressure to allow for carrying loads (more weight normally needs higher pressure to keep proper contact).
The old school way to find the road pressure (and still a good starting point) was to go to a smooth, level, paved parking lot, dust the surface of the tires with flour, roll it forward a revolution or two and check to see if the remaining flour is equal across the surface. More flour to the outside, raise the pressure, more to the inside, lower the pressure.
The new school way is to use a temperature gauge. Go for a drive long enough to really heat up the tires then stop and check the temperature across the tires. Higher temps to the outside, raise the pressure, higher temps to the inside, lower the pressure.