There is always the tried and true "chalk mark" method. Get some chalk, and draw a line across the tread of the tires. Drive for 100 yards or so. If the chalk mark is gone on the edges, but not in the middle, the tire is under inflated. Add air.
If the chalk mark is gone in the middle, but not on the edges, the tire is over inflated. Decrease the pressure.
If the chalk is gone clear across the tread, the tire is properly inflated for the current load.
If the chalk is gone on one side of the tire, there is an alignment problem that needs to be fixed ASAP!
Under inflated or over inflated results in a small contact patch, which results in poor grip on the highway. We need all the rubber on the road we can get!