well for truck tires you really don't have one set pressure. Generally you will have an empty truck pressure and loaded truck pressure. The loaded pressure will vary depending on how much weight. First, look at the sidewalls and see the max pressure for the tires. NEVER go past that regardless of what the door jam ratings say.
So for the big question, what are those pressures? Everyone will have a different answer. I personally run around 50-55 when empty. Medium loads will be around 65, heavy loads will be 70-75. Front tires don't need as much as rear.
What kind of tread pattern do you have? Sounds to me like an off-road tread that is wearing bad. You need them balanced at the very least, maybe rotated. OR bad U-joint in the driveline.