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More important than tyre pressure is to choose your speed based on road surface, for example, rocky roads - cut your speed back 20%.
As far as pressure goes, depends on your tyres and load. Tyres with billowing sidewalls (B/S Dueler, Yokohama) are more likely to get cut or staked if pressures are lowered. Better to keep the highway pressure but lower the speed.
Tyres like the BFG A/T have quite firm sidewalls and can run at a lower pressure. Cooper tyres seem to be made of harder rubber compound and can also run a lower pressure.
The biggest killer of tyres, transmissions, suspensions is excessive speed for the road conditions, not to mention that you can't enjoy the drive if you're constantly focused on trying to keep it on the road. Allow lots of travel time, the holiday starts when you leave home.
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