A few misconceptions about tpms adjustability here.
Yes, a dealer can, or used to be able to, adjust the tpms thresholds.
Following the advent of them on HD pickups, they used to be even some what user adjustable. (Dodge light load setting)
I've had them done or done myself on 13/15 model f250s and 14 model Rams.
Recently, ram Witech software updates have disallowed adjusting the, stupid, factory thresholds.
Not sure about Ford, but I suspect it's across the board, new safety regulations.
There is now aftermarket equipment appearing to do the same to combat this lack of adjustability.
Just more big brother saving us from ourselves. Sure my dad used to say the same about seat belts, but not apples to apples with not being allowed to adjust your tire pressure properly for your use/needs. Well you still can, you just have a constant reminder on the dash that the truck thinks you're wrong!
If some mfgs still have the capability to change them, a lot of dealers will deny their ability or willingness to do so.
Bottom line, ALOT more people running too high of pressures for the loads or empty 3/4 ton pickups just to keep an idiot light turned off.
Short answer, 7-8000lb pickup = 45-60 psi front depending on diesel vs gas and size of tires. Empty rear psi should be 35-45psi based on empty bed and size of tires, for proper load/inflation for "normal" driving.
Running super high rear psi in an empty truck will not technically hurt anything, to the degree under inflation will, but it will make the ride orders of magnitude rougher, less traction than it should have, and helps cause many "my truck squeaks" complaints.