By the time you wait for a tire to warm up in the Winter, you have probably put enough miles on it, under inflated, that the damage is already done. They do make inexpensive laser temperature gauges that are a lot more accurate, but you still have to have a place to start before you can find that one tire that is hotter than the rest. A good quality tire gauge still is the best way to start off each day.
Years ago, the drivers used to "thump" their tires. A professional could tell from the sound if one tire was low on pressure. Some still do it that way. Good luck with doing that to an inside dual on an RV. It is easier to just use a gauge. :B