Tire companies do not list a recommended pressure for any vehicle, they only list the maximum safe pressure and load capicty for their tires. Get yourself some chalk and make some broad marks from edge to edge of the tread. Then start your experimenting. Drive short distances and then check your chalk marks. If they're wearing off faster in the middle decrease the pressure a few psi. If the chalks wearing off toward the edges, add some air. Remark with chalk and drive some more, until you find the pressure that causes the cahlk to wear evenly across the whole width of the tread.
The tires should be up to normal operating temperature before your start this, and don't expect the final pressure in the fronts to match the preassure in the rears, tho both right and left on either axle should match each other.
Obvioulsy this should be done on dry, clean streets for best result, and try to have the bronco loaded similar to how it is when you do most of your driving. Changing the wieght and its distribution will chang the results of your experiment.