As stated, everyone's set up is different.
The terrain also varies, sand pressures will be different for desert sand, wet beach sand, dry beach sand.
For my set up; (this is a rough cold pressure guide)
Highway : 39.42.39. (front.rear.trailer)
Dirt road : 28.30.28
Dirt road with larger rocks : 23.25.23
Sand : could be (15.18.10), depends on sand type.
My trailer weighs about the same as my front axel weight, thus similar pressures.
Generally less than 10psi you want to be real careful, the side wall will be quite vulnerable and also the risk of bead damage on drive wheels.
Softer tyre pressure will provide better ride by absorbing the bounce and taking it off the suspension, but because the tyre flexes more and more contact with the ground, it will heat up if driven at the same rate.
It is all a balance, best obtained by experience with your vehicle, camper and driving style.
Don't be afraid to air down (coupled with speed down) and try it. If no good drop some more, or pump them up.